paintless dent repair?

so i've considered getting getting some small dents on my car touched up. half the people i talk to say do it and the other half say its a waste of my money because they still wont get the whole dent out or they might mess my paint up. is there a good way to go about getting it done? when i talked to a guy at a body shop a couple months ago he said he couple remove any of my dents without repainting the panel. i've also heard that some dealerships offer it for a certain price and that they do pretty good jobs.