I had the opposite of the birth I wanted, starting with having my waters broken and a scalp monitor being put on DS's head (they couldn't get a reliable reading of DS's heartrate). I had all these plans to use my TENS machine (would interfere with monitoring) and move around to ease contractions etc, but apparently I couldn't move so I spent the whole labour on my back (with a brief bit on my side with poor DH holding my leg up while I was pushing!) Being on my back was horrid!
From then I had pethadine (felt sick so they wouldn't give me G&A), then G&A, and 3 failed epidurals (3 times putting the tube in, 2 doses of painkillers). I think the epidurals worked a bit but there was definitely still plenty of pain so I carried on with the G&A.
Apparently I was getting too tired so they then gave me syntometrin to speed things up. When I started pushing I hated it and just wanted it to all be over (All I could think about was that it felt like I was going to poo myself!)
For a couple of weeks afterwards I couldn't think about the labour without feeling sick, and the idea of having another baby (however wonderful DS is) was completely unthinkable. However, apart from some back pain from the epidurals, I felt pretty normal within a few days (walking a couple of miles a week after birth)
Now DS is eight weeks old and the pain is all a blur, and when I can get more sleep I'll be contemplating the idea of a second! Next time I won't have the choice of an epidural (as there'd be a big chance it would fail again) but I'd do my best to avoid one anyway
So to summarise my horribly long post, yes it can hurt like hell but even if it goes totally off-plan, its bearable, and the DC at the end is so worth it all.