I had epidural first time around and HATED it. Yes, all the pain went away, but not being able to move legs at all was horrible and I couldn't do much for dc when she was born and wound up with an assisted delivery and big episiotomy - the crib was at the end of the bed and having no control over leg movement makes looking after bubs difficult IMHO.
Had tens machine, gas and air and a mw I knew really well for the second - plus OH to squeeze and swear at . YES it hurts, Yes, it does sting (a lot), but I found contractions manageable as they weren't constant - they came in a wave IYSWIM, and counting to 20 while the gas kicked in helped me focus, plus being able to move around was great...The pushing bit was intense for me, but ds had got his hand stuck in the wrong place, so was a toughie to get out. But it is called labour for a reason (yes, it's hard work, but it's doable)
Didn't really notice the crowning as I was a bit preoccupied and 'in an alternative zone' at that point (had lost nightie and all sense of modesty, having sworn at the very lovely tea lady, for offering me a cup of tea - did apologise later...)
Stayed at home for as long as possible too for second one - had lovely deep warm baths, as we're 10 mins from the hospital. It was much more relaxing (if that's the right word) as you can do / eat / drink what you want and watch TV etc (maybe not in the bath).
What ever happens it probably won't be what you're expecting, so don't worry, I shouldn't think it will be as awful as you imagine and you can always change your mind and have an epidural if you find it too painful, or do whatever YOU choose to do. It's your labour.
Do try to relax, and go with the contractions as fighting them just makes you tense up and makes the muscles have to work harder, so more painfully.
I found the experience of only having gas and air + tens a wonderful and fulfilling experience and it was a lovely birth, despite the tears, but that's purely personal - it's not a competition IYKWIM, so do what you're comfortable with.
Finding out a lot about HOW my body worked as it gave birth helped me to understand the different phases of labour and the changes my body was going thru, so I felt more in control and as tho I knew what I was doing. It also helped me focus on the, now we're going to do this, so I could see an end to the labour, it didn't feel as if it would last forever (like the first time when I knew nothing) DH thought it was fab (birth is an AMAZING thing that your body does, as far as I'm concerned) and was utterly exhausted afterwards
You will be fine! It's something women have done for thousands of years!