My first labour was a horrible experience for me (failed epidural, long, IVs incorrectly set which made my arms balloon like hams, big baby).
It basically took me 8 years to get over it and have another child.
I just gave birth to DD2 5 days ago, and it went fantastically well. Again, vaginal birth, but this time three pushes, and she was out! She was same weight as her big sister (3.8kgs). Epidurals are a wonderful invention, and it really helped to have one this time 
The hospital staff were lovely also, which was a big change compared to my prior experience (I gave birth to DD1 in Paris, DD2 in Lisbon).
Also for this pregnancy I was fanatical about going to the gym twice a week (until week 39), 10 000 steps a day, saw my osteopath every week until week 40, careful around weight gain etc. Don’t know if it helped but certainly didn’t hurt.