A Any violation of the skin is going to leave a scar and there is no way to completely avoid this. There are definitely ways to improve the healing process and/or start over under ideal conditions.
After a wound heals, the scar continues to remodel and change for months. There are many treatments to improve the character of scars during the healing/remodeling process - lotions, silicone sheeting, and sun avoidance to name a few.
If the scars are mature and are still pigmented and unsightly, a laser treatment may be appropriate to lighten the color of the scar. Another option would be a scar revision by a qualified surgeon with the specific goal of starting the process all over again and using the treatments I listed above while this is healing.