Yeah, the best thing to do is relax. If you build it up in your head that it is going to be awful - then it will be.
Normally, what will happen is this -
they will call you back to the exam room, with a stop off to get your weight and sometimes your height, you will go to the room and the nurse will ask you questions. Once that is done, you will be given a gown to put on. Everything off underneath. You sit on the table and wait for the doctor. When he/she arrives (with a nurse) and finishes with the "hellos" they will have you lay back or sit up (depending on the dr.) and do a breast exam - not painful, just ackward. Then you will be asked to scoot down the table with your feet up in the stirups. They will check your ovaries and then do the pap smear. Again, if you relax it should not be painful - just ackward.
And then the dr. and nurse leave and you get dressed and go home.
It's just one of those things that, as a woman, you must endure to make sure you are healthy. If you have questions, don't be afraid to ask - that is what the dr. is there for.
Good Luck.