Nervous about first pap. Help?

So, I lost my virginity to my SO when I was 23. Yes 23 and damn proud of it. And my doctor said I didn't need one until I became sexually active since I had all my HPV shots and that cervical or uterine or ovarian cancer doesn't run in my family. But now that I've been sexually active im due for one. And scared. Does it hurt? Is it painful?