I had a PA28-161 up to 14,300 QNH over East Anglia before - three main considerations (I haven't read previous posts), are biological, mechanical and meterological.
As previously mentioned, level off a couple of times in the climb and lean for optimum mixture (you'll be starting to run rough above about 11,000 full rich). To be honest, if you are a fit and healthy individual who doesn't smoke, you'll have no problems whatsoever at 10,000, indeed up to about 15,000 feet there will be no ill effects.
I smoke and continue to fly around 10,000, no problems.
And of course watch the weather - remember it takes a lot longer to descend from 10,000 than from 2-3,000 to get back under a closing cloudbase, and you really don't want to be glide descending from that altitude even with regular warmups, best to make a 'trip' of it and a nice powered descent right the way down again to avoid thermoshock on the engine, especially in the colder air higher up.
You'll be fine buddy, enjoy the view and take a camera ;-)