How to remove trapped hairs?

I'm a black girl and for as long as I can remember my both of my legs are full of dark spots. Like almost every hair follicle. When I look closer it is trapped hair. I wouldn't call it ingrown because they don't hurt. They are just trapped inside the bump. I have never shaved my thighs before so I know it can't be because of shaving. I can't seem to find anything on the internet for what I have. Does anyone know what Im talking about and have any advise to help me.