Re: what to expect?
IME you should expect that you will be asked to give a complete medical history, with emphasis on current symptoms. You should also expect a thorough physical exam, all the usuals plus a lot of poking around your muscles & joints. You may be asked to move your limbs, also to do this against resistance. Your doc may measure certain body parts, like the length of both legs, to check that orthopedic problems are not contributing to your pain. Your doc will likely examine your skin, all over your body.
IME you're unlikely to have your privates examined, and certainly nothing like a Pap. Oh, and be prepared to have a lot of blood drawn, if not on the date of the consult, then soon after.
From YOUR point of view, it can be helpful to write down any questions that you have to ask the doc, probably after he's done his history & physical shtick.
Nothing to fear, my dear.