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There would be no tattooing without tattoo ink. The only problem is, throughout the history we made tattoo ink out of everything: from blood and dirt to industrial-grade colorants and carcinogens.
Tattooing isn't easy: not for tattooed nor for the one doing the tattooing (it can be but you will not get a nice tattoo then). Tattooing has a procedure that must be respected to avoid problems. Read how tattoos work and what makes tattoos permanent.
They say that removal of tattoos hurts more that applying them. But some tattoos must be removed because their owners don't like them anymore or they have health problems because of them (like allergies).