Pinky on the pickguard

For a while now, I've been trying to stop resting my pinky on the pickguard when I fingerpick, or for picking (rather than strumming) with a pick. Partially because it hurts after a while, and also because I can see how it's hampering my improvement in playing. But when I trying fingerpicking without my pinky on the guitar, it feels very weird, and I lose accuracy in my picking.

So, first of all, is it bad to do this?

Secondly, does anyone have any tips on how I can stop doing this but still feel comfortable?

Thanks for your help, guys.

Well first of all, I don't think you need to stop for picking. For fingerpicking, it probably will hamper your development. For picking, as long as you rest it but not anchor it, you're ok. What i mean is that you can have it on the pickguard, but not anchored to one specific spot, let it move up and down as your forearm moves. If you do this, it won't hamper mobility. As for fingerpicking, I don't know what do you, just practice with a free pinky.