I've been shaving for years, too long to remember. I use regular shaving gel, not cream. The gel is thicker and spreads out better, of course unscented is best, the additive for the scent stings a bit.
A gel with Aloe is great as well. The first few times is very akward indeed, you should try to trim the long hairs first with a small pair of scissors, very slowly and carefully.
The hair collects fast on the razor, so keep rinsing often and use a pivoting head multi-blade razor to go around all the curves and angles. If I spend too much time on my testicles I know I'll get razor burn, so just a few strokes there is all it takes. The shaft and surrounding groin areas are easy to master.
If your just getting started, once every 4-5 days will keep you clean, then once you become more adapt, once a week to 10 days is good. After shaving I use a nice hand lotion all over the bare skin, being very liberal, and I very seldom have any problems.
For those that haven't tried it, you don't know what your missing. The first time you're bare and you have sex ,you're feeling sensations you never thought you would feel previuosly. Incredible ! The skin on your testicles and shaft is very tough, I've never once cut through, but I take my time, it's never a race . Try it !!