Hello Michelle,
Personally I used to shave but now I wax all of those areas. It leaves your skin smoother, and lasts longer than shaving. There is a little more pain involved, and you can get the odd in grown hair, but I haven't experienced that yet, and I've been doing it for years.
The tricky part about it all is waxing those hard to reach areas, and that is where my wife comes in
Also, I am fortunate to have an esthetician who will do it for me as well.
Chat later,
Steph