Ive had one in labour and one for another hospital admission. I didnt really notice the one in labour, I had a vaginal birth so it was just put in as I hadnt passed urine and she wanted my bladder empty before i started pushing. So it was just in and out, didnt really bother me, i was a bit nervous but it honestly didnt hurt at all.
The other one I had when i was poorly in hospital with pancreatitis (while 17 weeks pregnant with these twins), It was a little sore and very strange, and then as it was left in it was an odd feeling but it got better after awhile. I did keep asking for it to come out, lol, and was happy when it did, i did find it uncomfy. But i didnt hurt really, was uncomfy and a bit sore and weird going in.
As for coming out, it was quick, a bit uncofy but they asked me to cough and then it was oit so nothing to really worry about.
Fingers crossed you wont need one, but if you do i wouldnt worry, it will be fine. x