I'm curious about teeth whitening.

Since I drink one or two cups of coffee a day, my teeth have become yellow even though I don't drink carbonated beverages!

So, when taking pictures, I dislike the yellowish feeling, so I want to get teeth whitening.

Is teeth whitening done by grinding down the outer surface of the teeth?

I'm hesitant because I'm worried it might cause stinging or not last very long.. Please tell me in detail if you've tried it!