I would say bed but a lot of midwives are so used to saving time by seeing scars and stitches on the sofa that they'll just do it there. Pampers bed mats a good idea too.
Definitely paracetamol/wine and bear the mind that the more it hurts the more effective it is. I had 4 half assed sweeps done by the midwife but it wasn't till the consultant tried to asses the size of my pelvis in case it was too small and shoved his whole fist up there that I went into labour a couple of hours later. Hurt like hell but when I was 20 days late and had 4 failed inductions and numerous sweeps it finally did the trick