on all fours, or knee to chest to get pressure off your cervix.. iirc, doing one or two contractions on left, then back, then right, then front can help. or that might be for something else
an epidural when fully dilated is, IMO, like locking the stable after the horse has bolted, it can prolong the second stage and it would be really hard to site it with ctx on top of each other
pethidine is a muscle relaxant and can help you to cope with the pain and aid dilation
pushing on an anterior lip can lead the lip to swell more and make descent of teh baby harder
anything that takes pressure off your cervix is good!
an epidural is good, but there are more downsides to it, and the risks for me outweigh the benefits here,where there are other non invasive things you can do
of course, it is abslutely your decision !
have oyu thought about a doula to support you both this time?