I can understand your worry; labour was my biggest fear too but the best advice I was given was research as much as you can and go into it with an OPEN MIND. In my opinion now, it's the best kind of pain because there's an end result. Pain like periods, broken bones, headaches etc, they have no necessity, but labour will bring you both your new baby AND the end of pregnancy; win win! Also it's good to remember that there's always an end to labour; it can only go on for so long.
I laboured for 18 hours at home with just a TENS machine (not dilated enough then baby was back-to-back) before they finally admitted me. TENS machine = godsend. Then I spent an hour in a hospital bed with Entonox (gas&air). Gas&air = godsend. THEN finally into the water with my Entonox and I kid you not, best experience of my life, my labour. From start to finish. Even though it didn't go to plan, even though I was at home for longer than I would have wanted, it was such a different experience to anything I've ever done. What your body can go through is ridiculous.
As soon as I was in the water I was like a different person according to my partner. I instantly relaxed, could breathe properly and I was high as a kite off the Entonox so I started getting concerned about how baby would come out, as obviously I thought I was a mermaid. Being able to float, without that baby weight holding me down, no clothes restricting me, and in the calm, spa-like environment with a midwife and my partner there.. it was heaven, even with the contractions!
3 and a half hours later I had to get out the pool to have my waters broken, but then I got back in and my baby was born within about 40 minutes. DD1 came out into the water and didn't cry, but sneezed first haha! Then I could just lie there, floating in the water with my new baby on me, rather than sticking to a messy bed. I did tear (and stitches were worse than the labour in my opinion) but again, it was a necessity to get my baby out. I much preferred the labour I had with stitches rather than having a forceps delivery, or a C-section.
The best thing you can really do is come to accept that whatever happens in labour, it's all necessary to get your baby out safely. Your body will heal, the memory of the pain will fade, and as long as you keep an optimistic attitude about it, it can never be too bad.
To be honest, I hated the pregnancy more than the labour! Hopefully my labour this time will also be better than the pregnancy haha