I had the Mirena removed February last year. The actual removal was uncomfortable but not painful. The pain I had was from the nurse and gynecologist struggling to locate the strings and uncoil it from around my cervix. Like Kati said, take some ibuprofen before and you should be fine. I drove myself there and home as well.
I didn’t even feel it. Placing it was more uncomfortable for me.
It's been a long time since I had an IUD, but I drove myself to the appointment when I got it and I drove myself home when I had it taken out. Take some ibuprofen before you go it's not that big of a deal