I have. Actually just had my second colopscopy a few weeks ago. I'm sure it depends somewhat on where you are, but I couldn't speak highly enough of the nhs team who did mine. They were great at keeping me relaxed, I tense up a lot with anything internal, and I think I felt it less than most smears, presumably because that's all they do all day.
First results came back as minor changes, had a second colopscopy six months later, this time they took a biopsy. I actually didn't even feel the bit where they took the biopsy (they said it would be a brief scratch), I was much more relaxed this time though as it had gone so well the first time which definitely helped. I brought DP to the first one and held his hand, the second one I just kept singing on to the music they had playing in my head!
I was told if its gone back to normal, I'll be back to the gp for regular smears, if it stays the same they'll wait another year for a follow-up colopscopy. Still haven't got results.
Its worth remembering that while its essential to get checked, cervical cancer moves relatively slowly in terms of cells that are a bit off - obviously its totally different when they've actually become cancerous, that's why the need to keep getting checked. But I feel totally confident that I'm being monitored, and that in a worse case scenario I should only need a slightly more unpleasant invasive procedue to nip it in the bud. I know two friends who've had the lasering off procedure done (excuse the totally incorrect terminology), and while its unpleasant, its not the worst thing in the world.
So in short: don't worry. It honestly won't be that bad.