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.