I'm assuming you've never had an appointment with an ob/gyn before.

Just call up your doctor and tell them you want to have a pap smear and std test done. This should be done every year once you become sexually active, and sometimes sooner.

As for letting "a complete stranger stare at your vagina"... this is their job, and they are very professional about it. They've seen so many vaginas that it probably doesn't even faze them anymore.