A dear friend of mine had their little girl's ears pierced by a tat/piercing place. They are sooo used to doing piercings and have to be super clean and professional. They paid a whole lot more than they would have at WalMart but...they are glad they did. Yeah...Walmart is far from the best place to get it done.
I had mine done at 2nd grade, and to be honest, I wish I had them done as a baby. It didn't hurt horribly, but I played with them all the time and as a result they got infected so many times.
Its a hard decision to make as far as when to get them done, if at all. That would have been hard to see tho.