(Concern) How often should I have regular dental check-ups?

It's been a long time since I last went to the dentist. Sometimes my teeth feel tingly or my gums bleed, but I thought it would get better, so I didn't go. I was in pain for a few days, but it got better, though I'm worried it might get worse later. I'm not in severe pain right now, but I think it would be good to visit the dentist. How often should I go for check-ups?