I would thoroughly recommending hypnobirthing - I did the Maggie Howell one.
I could have written your original post.
I am now writing this with my six week old on my lap 
Contractions - painful, yes but remember they are not constant. There is a gap where they go away completely. This, to me, made them manageable. Concentrate on the gaps, don't think about the next contraction.
Tens machine - a huge yes from me! But you need to get it on early for it to be effective. Mine lost it's benefit when I was almost completely dilated.
Pushing - this was, to me, more intense but I could cope with this as it was shorter (less than 2 hours) and felt like I was achieving the end goal. My body took over and I just let it do it's thing.
Crowning - I didn't get the burn. However it did feel like my pelvis would split apart - I just trusted in my body to do its job and not actually crack under the pressure.
I remember someone telling me that we can cope with the pain because it is our body creating it and therefore it will not be more than you can bear. That plus - the point at which you think you can't cope is the worst the pain gets - kept me going.
Keeping relaxed was the best pain relief - that and gas and air! I loved it. Water was also surprisingly effective.
I didn't actually find the birth that bad. Afterwards though 
Good luck!!