Re birth - fearful is the worst thing you can be. You've grown a baby, you'll get the baby out :) It's what your bits are made for! If you're scared, you'll feel the contractions more painfully as you'll be tensing up for each one and dreading the next one. Remember pain is a link between your nerves (which are effectively going 'got something going on here, do you want to have a look at it') and your brain (which is going 'oh, yeah, that's OK' or 'WTF - PANIC'). If you can persuade your brain to remember that contractions are normal and all that's happening is you're getting close to meeting your baby it should be less painful. Of course if the baby is in a bad position, or if there are other complications, it can be properly painful irrespective of what your mental state is, and that's what pain relief is there for.
Ina May (now there's hippy fox ;) ) has a comment in one of her books where she compares the ahem male organ to the female and says that no-one is surprised when they see how much bigger/smaller a male organ can be in the correct conditions and the vagina can do the same if you let it. But you need to be calm, relaxed, not afraid or with adrenaline coursing (think of what would happen to the equivalent male organ if the male was afraid?).
There are also two sets of muscles in your uterus, one which go across (loosely speaking) and one which go down. They need to work in harmony to make the baby-delivery thing work. Problem is if you're tensing up, they start fighting eachother and then it's like when you tense a muscle too long - it will start complaining and being painful.
Re books/routines/whatever, read as much as you like, realise that most of the views conflict, and pick whatever you think might work for you - except if you're breastfeeding it's very important to feed on demand for the first few weeks to establish your supply. If baby is sleepy or prem you may need to feed more often than the baby wants. We never did a routine with our now 4yo, but I think we were fairly lucky that if he was tired he just fell asleep and tended to stay that way (waking only for milk and then going back to sleep).
Every baby is different, every parent is different, and we all have different lives / needs / wants etc that we need to fit in.