In my experience no, not as long as you’re relaxed and don’t have any physical issues.
If you’re sexually active you should get a gyn check-up.
You might feel a small irritation on your cervix for three seconds. My experience is nothing like what @snowberry describes. Not that I doubt her experience.
If you are very uncomfortable when the doctor inserts the speculum let them know and they might be able to use a smaller one.
I was lucky enough to see a doctor who specializes in adolescent patients as my primary as a teenager, and she was great.
Places like Planned Parenthood are usually good, and also know your regular doctor might be willing to keep a separate chart about your GYN check-ups if you don’t want your parents to know, BUT your insurance might tip them off if they receive an EOB.
Age is not really applicable if you are sexually active. Sex means possible exposure to many things.