Hi,
This could be folliculitis, acne, pimples, fordyce spots or genital warts or due to frictional trauma.
Nothing can be said with surety without having a look at the lesions and a clinical examination.
Do you have any other associated symptoms?
You should keep the areas clean and maintain good personal hygiene. You should not be embarassed about seeing your doctor at all.
Let us know about what your doctor advises and post us about any other doubts that you might have.
Regards.
Could be "jock-itch". Try otc lotrimin or some other otc cream.