Yeah i'm always self concious about that too. Use shaving cream/foam i guess and moisturise (not straight after shaving!) and you can get creams/sprays etc. i have one called 'ingrown solution' which it supposed to stop ingrown hairs and red bumps after waxing/shaving. it hasn't solved the problem but does help
Waxing is great but there is a time with it that the hair is growing back and is too short to wax yet.Here is a page of helpful hints about shaving. We all just shave without a thought to how to do it. Maybe some of the points will help you.