My daughter who turns 7 in two months just got hers done about a month ago, and it was really easy. She didn't flinch, or cry, and was just excited about the whole thing, and is more strict about looking after them and remembering to twist them and apply the antiseptic stuff than I am! I was glad we waited because it was kind of one of those special "growing up" moments we got to do together as a Mum & Daughter, and it made her feel really important.
That being said, I had been offering to get them done for her since she was about 3.5, but she wanted to wait. I know from experience as a Hairdresser piercing ears, that I found it sooooo hard to do them on bubbas, but really it is just a quick second or two of pain, just like immunisations. See if you can find somewhere that will do both ears at once.