I hadn't been to the dentist in 12 years (too scary), but they really went above and beyond to make this a very pleasant experience. I won't say it didn't hurt, but the only pain was the novocaine injections for my "Deep Cleaning".
If you're scared of the Dentist, especially if it's been a long time, this is your team. They're very friendly, and if it still hurts they'll just numb you again and let you marinate for 10 minutes until it doesnt hurt anymore (rather than keep going like other Dentists I've been to).
I like them so much I'm going back again today for the second half of my "Deep Cleaning". You'll be impressed!