My mother had two home births and my sister had two straight forward births.
So I had the confidence to try for home births. I had my first at home with only tens and paracetamol, gas and air for the last 10 minutes (as midwife got here very late).
It was definitely doable.
I also had my second at home, didn't bother with paracetamol and had a little longer of the gas and air but I didn't feel it helped me much.
I was very fortunate, had luck and genes on my side, physically.
To mentally prepare, I did a hypnobirthing CD, read loads of natural Birth books (Dick Grantley-Read? Ina May Gaskin, and Juju Sundin) which all helped me. I selected various coping mechanisms including breathing exercises and visualisation, pacing, stood up throughout both births pacing and counting each breath, in for 6 out for 4.
It is possible, but it's not the be all and end all. If you're happy to try it the go for it but there's no shame in changing your mind and going in to hospital any time and asking for pain relief if you need it!
The most important thing is a healthy mum and baby.
Good luck!