My husband and I will usually do our initial trimmings ourselves with a set of hair clippers that have a vacuum attached (nice for not making too huge a mess). The easiest way we've found to shave each other is with the one being shaved standing in the bathtub with one leg up on the side, and the shaver sitting on the toilet or next to the tub.
It's a pretty big turn-on to shave each other and get all smooth... I'd warn you though to be sure to rinse all those little hairs off before having sex, because it can be really uncomfortable to have a little hair stuck in your clit or vagina.