Yes. Sort of.
We had a tricky start, the first 2/3 days were tough as she wouldn't/couldn't latch properly. But once we cracked that we were totally fine. She's one next week and we're still going strong 
I had the same mindset as you really, that often you only hear the horror stories. It made me nervous. But once I started I found that I really didn't want to stop.
Don't get me wrong, it is tough at times. Cluster feeding in the early days can be really hard; growth spurts are difficult. I remember a really hot sticky day last year where I was just crying because she wouldn't stop feeding and I didn't feel like I had any more milk to give. But it passed.
My tips would be:
Explore your potential support networks before you have the baby. Look for local breastfeeding groups, check out La Leche League, etc. That way if you do have problems you know where you can go. The La Leche League book The Womanly Art of Breastfeeding is good too.
Stock up on some Lansinoh nipple cream and breast pads. Even if your baby latches well right from the off, it can be a little uncomfortable for a few days while you get used to the sensation.
Get a good strong water bottle and plenty of shelf stable snacks that you can eat with one hand.
Co-sleep.
Surround yourself with other mothers who breastfeed. I have found that's where my biggest source of support is. Knowing other mothers who breastfeed not just newborns but older babies and toddlers has been really beneficial.