I hate all this emphasis on pain! It stung a bit, but not pain on the scale of sciatica, an infected Bartholin's cyst, or serious toothache, honest (all things I've experienced with more pain). For me, my contractions are a bit all over the place until I get in the pool, then they stabilise. Lower back massage from dh, use of birthing ball and then the pool once I'm over 5cm (I ask for an internal for this, but that's up to you). Hypnobirthing - only read up on this before dd3, and realised that it's pretty much what I do anyway, visualising the outcome I want and going with my body.
Have had all 3 of my babies at home, no drugs, no problems (well, dd3 swallowed meconium, but that was going to happen anywhere and that's why you have 2 midwives with you), no mess, no stitches. From 7lb 4oz to 9lb 9oz. And dh can have a cup of tea whenever he wants (when we went in after the birth with dd3, they wouldn't let him).
Finally, if you do transfer for epidural/induction or whatever, it's not a failure, it's just the same as would happen if you went in at an earlier stage, surely?
Enjoy!
(caveat: haven't read any of the other posts, pain comments not targetted at anyone in this thread, it's a general comment on that people seem to associate birth with pain, and I don't think it should be the overriding experience in most cases).