I would have said absolutely not.
But in fact my mum was there at the birth of DS1.
My parents live in France and the idea was when I went into labour, we'd ring, and she'd sort out a flight and get over here to see baby probably two or three days after the birth, and would help out at home etc
In the event, I was in labour so long he still had not arrived when she did, and she was at home twiddling her thumbs with DHs parents who had come up and were doing the same while dogsitting. Then joined by my SIL, her DH and my niece. 
I was in labour for so long and it was not going well, that in the end, knowing my mum was only a few minutes away waiting, I just said to DH "I want my mum". (I was in a pretty bad way by this point), and FIL drove her down. She gave me a bit extra strength for the last couple of hours and was there for DS1s' birth, which I know she felt was a great privilege.
DH and I are very self-sufficient, partly deliberately and partly through necessity as we have no family nearby to help out anyway, so if anyone had said to me what would end up happening, I would not have believed them. DH would have said the same but in the event was glad of the extra support, as both of us were pretty much on our knees and some 'fresh blood' in the fight was required!
But you shouldn't feel guilty, if you want just you and DH then that's what you should have.