When I got tested it was all very clinical, no embarrassment at all - the vibe I got from the doctor was sort of "I've seen thousands of vaginas in my time and yours is nothing out of the ordinary". When testing for chlamydia they have you lie back and they insert a speculum to open you up, so to speak, then they take a swab from the inside walls. It's not painful, just a bit uncomfortable, and the peace of mind you get afterwards from knowing you've taken action rather than sitting and worrying, and that you're either clear or on your way to it, is amazing.