If you're only having a pelvic and pap then yes, you will be asked to remove everything from the waist down and they will give you a paper 'sheet' to cover yourself with. When the doctor comes in, he/she will ask you to lie down, then for you to scoot down so your feet can go in the stirrups. And then you just lay there and what the above poster described is pretty much all that happens. The sheet always stays on you and is only raised just high enough for the doctor to do his work so you are still pretty much covered.
Now, I personally have never felt my pap smear when he does it. And I do want to tell you too, that when the pap is over, he will stand up and insert one or two fingers and then press down firmly on each side of your abdomen so he can feel your ovaries. Don't worry if he presses a little harder than you expect....this is the only way he can feel them.
Are you having a breast exam also, or don't you know? Because this is usually part of a physical, unless you know for sure it's only pelvic. If it's both, then you would be asked to remove everything and they will also give you a type of paper 'jacket' to put on along with the other one to cover you.
I have to tell you that my daughter's best friend went for her first exam a few years ago, and she was soooo scared and upset about it, she was literally sick to her stomach. She left work a little early so she could go home and bathe first so she would be clean and fresh, and when she got there, she told the doctor it was her first time and was visibly scared. Afterwards she said it was a piece fo cake and felt like an idiot

She did have a woman doctor because that made her feel more comfortable, but I think that is all a matter of choice.
Let us know how it goes when you get back home, ok? We always like to find out how things went after we've tried to help someone.
Good luck....and relax, it's nothing. Really.