Every time I went to the pediatrician there was always a "check." Since I am uncircumcised, he always retracted my foreskin to make sure that it wasn't to tight and that it was clean. (I remember when my mother still bathed me she always pulled back my foreskin and ran a wash cloth over the head of my penis, so, when started bathing and showering myself, I just naturally did the same.) He would also give my scrotum a squeeze to make sure both my testicles were where they were supposed to be.
My first "real" genital exam probably was when I was about 10. My regular doctor was on vacation, and there was a husband and wife pair of doctors covering for him. I don't remember why I went to the office, but I did. That day, the woman was on. (A day of firsts. It was also the first time I was ever examined by a woman.)
Now, having never seen me before (although she new my mom) she did a complete exam. Everything was as I expected. I sat on the table in my underwear, my mom seated across the room. In come Dr. M, and immediately, i tensed up. (I was a bit shy as a kid.) She introduced herself to me and started the exam.
Again, everything went along like normal until the end. After she palpated my abdomen and pulled my shorts down to about my hips (Again, nothing new, she had me stand up. (OK, this was new.) She sat on a stool in front of me, then yanked my shorts down to my knees! (I looked over at Mom, but she made no fuss, and I knew better than to make one.)
First she retracted my foreskin, then slowly (Seemed like ages to me, but it probably was a minute, tops) she palpated my testicles one at a time, rolling them around between her fingers, asking if I had any pain.(Fortunately, although I knew the basics of sex ed, I hadn't started to get erections yet). I was mortified. Then she did a hernia check on each side had me pull up my shoerts and get dressed while she talked to my mother.
From what I understand,I was lucky that the wife was covering that day. Although I never met him, I understand that the husband was really gruff and impatient. His wife seemed to understand that I was embarrassed and was quite gentle., but still quite thorough.
Shortly after that, my mom stopped coming into the office, and my regular doctor started doing more thorough genital exams, comparing the size of my balls to a set of plastic "models" (Can't remember the name off hand) and asking me more intimate questions about wet dreams, etc.