It feels good. It is just like witnessing a part of you becoming alive, getting a mind of its own so to speak. It can hurt depending on how much aroused you are (and yes there are different boner levels). It can be embarassing if you cannot hide it or when you're asleep and do not know who is going to see it. Especially in times in which you just don't know why your friend decides to stand up
Does it hurt no not really, it can be embarrisning at time, no when it get throbbing hard it can hurt alittle. Have you ever touched on if so it feels the same.