I have a few tattoos and a decently high threshold for pain. I think that when the tattooist first starts, it hurts a little, but after a bit the pain becomes more annoying than anything, for me personally. The tattoo that hurt the most was the one I got on my wrist, but that is primarily because it is boney and there are many nerve endings in that area. I have heard the top of the foot is the most painful.
I have a very low pain tolerance and I got mine on my upper back. I felt like a knife was stabbed into me and was dragged around my skin. It hurt alot but I got through the pain. I have heard it hurts less in areas where there is not alot of bone. A more fatty area should hurt less.
I heard that when you get a tattoo it's more of an annoying pain rather than a super painful feeling. Also it will hurt worse on the places with less fat like your foot because your bones are closer to the surface.