With ds I used Tens, G&A, and eventually epidural (which only worked on one side, and even that incompletely). With dd I used Tens, the bath at home, and about 4 breaths of G&A.
Labour for me was certainly not the worst pain in the world - that's toothache, without a doubt.
From my experiences I'd say that the best ways to cope with the pains are:
an open mind, as others have said. Be aware of your PR options, don't necessarily discount them, but don't feel that you are obliged to take any or all of them or in any particular order. It's fine to change your mind at any point. Having PR is not failure, neither is birthing without any PR some fantastic success or affirmation.
understand what's going on. In labour my brain just goes to mush because I'm so utterly turned inwards and absorbed by what's going on. So if I know what to expect then I don't need to have so much explained and can concentrate on birthing, am less scared therefore less distressed.
in the earlier stages of labour work out with your birth partner what helps and what doesn't - positions, holding on, stroking, etc. In labour with ds I discovered that I didn't want to be touched at all, but afterwards realised that that attitude may have made things harder for me. So next time around we decided that dh would continue with the various touches unless we were both certain that I was better off left alone. And it was very very helpful.
ask for extra support if that is what you want. We seemed to be coping so were left alone for much of the time. Second time around (gosh, so much wiser ) we asked for the midwife whenever we wanted her.
listen to your midwife. They give good guidance and support - I have had marvelous care from midwives.
if you don't feel happy or confident with your midwife then ask for a different one. That is your birth partner's job, though, not yours.
Please don't be scared by that thread. Every birth is unique and marvelous. And you will amaze yourself when you discover your inner strength however you give birth.