I would say it depends on how your labor went among other factors. Did you have an episiotomy? Was this your first baby?
For my first, I went "by the books" and waited 6 weeks to the day. That was a long 6 weeks! After my second, we waited 2 weeks. After my 3rd, it was 10 days. After my 4th, 3 days.
With my first two, I had stitches because the Doctor did an episiotomy. When I was in labor with my 3rd I had a different Doctor and when I mentioned it he said I didn't need it and he was right. I did have a tiny tear somewhere that went un-noticed until after I left the hospital, but other than that I healed much faster.
My 4th baby was the most painful delivery as far as I'm concerned, but I wasn't sore at all after she was born and was able to get up and walk to the washroom within minutes so it was a fair trade off.