Its fairly simple, don't just get HPV. Get the entire STD set ( HPV won't be a part of it). Go to any reputed path lab and they will have a package for std tests but hpv will be separate. They're mostly all blood tests. You'll be done in a matter of minutes depending on how crowded the place is. Unfortunately there is still some stigma when you ask for it . A few judgy looks here and there can be expected. Good luck.
PS: Girls, please do go for pap smears! This shouldn't be ignored.
PS. I'm a boy.