I've been keeping "bare" for about 6 months now by shaving. Here is how I do it. It takes about 10 minutes and is done in "stages."

EQUIPMENT NEEDED:
Venus razor (swivel head works exceptionally well)
Cheap conditioner (the "under $1 variety)
Sharp scissors with blunt ends
Personal shaver (those As Seen on TV small personal shavers)
A mirror

Start by using the scissors to trim any long hairs. I usually grasp the hair, pull down, and use the scissors to trim as close to the skin as possible.

Next, take a long hot bath or shower. This relaxes the hair, as someone else pointed out. Slather the conditioner over the area and use the Venus razor to shave. Don't overdo it, though. Don't press too hard and don't keep going over the area again and again. One or two "swipes" should get the bulk of it off. At this point, you are not trying to get smooth.....yet.

If you are shaving in the shower, dry off and sit in a chair where you can put your feet up on the seat and spread your legs wide. Lean back in the chair and use the mirror to get a good look at things. Use the personal shaver to get the remaining hair off. One important point - DO NOT SHAVE AGAINST THE GRAIN. Shave in the same direction as the hair growth. Otherwise you will get bumps afterwards.

This is the easiest and quickest way I've found to keep it clean! Hope this helps.