This is a bit of a rushed message as I am meant to be WORKING and MUST START.
I had an excellent epidural, at 9cm dilated (had been 9cm dilated for 8 hours or so.) The process was a bugger, because they have to stick you with a needle while you are contracting. Did not feel needle, but definitely felt trying to keep very still and in weird hunched over position while mid-contraction.
Could not feel legs, or move legs, guess I must have had catheter - sooooo did not care about any of those things. Seriously - could not have cared less and did not notice. You can't think about childbirth with your rational planning brain on.
Epidural was up for about 4 hours-ish while they put me on syntocin drip - 2 hours to 10 cm, then they leave you for an hour (or was my hospital's policy) to rest before you push. I did not 'top up' once during that time (there is a button you can press if you want more drugs.)
When it came to push I could feel contractions as painless tightenings, could feel to push, felt the baby moving down, pushed like a dream, easy stage.
Things to think about - my baby was early, so I was already monitored and strapped up and needled up to the hilt, so the medical intervention stuff was already happening and did not come as an invasion or shock.
As it wore off I could hideous, uncontrollable shakes, for 15 mins or so. Did not care, had baby.
I was left with a numb patch the size of my palm on left thigh. Totally freaked me out but only noticed it 2 months later. Has gone away now.
Last thing to think about - totally effective pain relief. Went from screaming (sorry but 9 cms is quite painful imo, sure you will have sneeze birth) to having lovely excited chat with DH.
Good luck! And if you want an epidural, have an epidural. You will still get a baby. Be strong in your own mind and don't think you are wimping out. Do whatever will get you the best experience. It's YOUR labour.