I wouldn't say it was painful or that it really hurt, except maybe when the artist was making the curves/rounded areas of mine. Those areas were like a pinching sensation. Yes, you do feel the needle, but it was less a stabbing sensation and more a constant poking. The thing that bothered me more was the sound -- it's close to that of a dentist drill. I have a low pain tolerance and despise dentist offices.
I do know from friends that the closer to the bone, the more it hurts. Around the ankle is one that hurts; there's less tissue/fat. Also, those that are filled in hurt more because that takes a lot of time to accomplish well, and the artist has to go over the same areas more often.
If you're thinking about getting a tattoo, talk to others who have them, do lots of research, interview the artist. Ask your friend who did theirs. Read reviews and CHECK THE HEALTH DEPARTMENT RATING! Many artists may not want to do the work you've selected -- it's their art/reputation, but it is YOUR body. There should be mutual respect and mutual compromise.
My piercings actually hurt more than the tattoo did.