I loved my epidural, as I have a disability and would be likely to have problems giving birth we chose a hospital with a specialist mother and baby unit and we went in beforehand with the consultant to see the anethetist who assured me "I've injected far worse spines than yours". The unit also guaranteed an anethetist would be available at all times.
I went into labour, my back muscles collapsed, I was in agony at 2cm dilation, they whacked me up with pethedine and the obstetrician looked in and he and the midwife said I needed more painkillers, I decided I wanted an epidural (I was utterly immobile by this time) the midwife rushed off, I had one more contraction then they did the injection and I was all pain free for the next 5 hours. Very restful, the actual pushing was a problem as I couldn't feel anything so the registrar came along and she put her hands on my stomach and told me when to push, then they saw merconium coming out and did a quick ventouse to get DD out. We were both fine.
That said, DH had read up on the childbirth stuff and hovered about making sure I got the best care and was a real help, he even stood over the poor registrar to check I was stitched up ok (I have a weird thing where I don't heal well so need loads of stitches).
So, if there are the required staff and your DH is assertive it can be great, my midwife was fantastic, the only real issue was the relief midwife covering while my midwife went to dinner didn't check my dilation often enough and I dilated very very quickly (epidurals normally slow dilation) and this was picked up by the registrar and she rocketed the midwife about it then mobilised the entire team.
I did have a very slight breakthrough pain in my tummy for a short time, but it wasn't much at all.
Looking back DH was more traumatised by the whole thing than I was, I found it very relaxing.