I was lucky to have two home births.
Both I managed primarily with Tens, which was more strong than my contractions - Tens went up to 10 and I didn't need more than 6 otherwise it was more painful than the actual contractions.
The first I noticed pain around 5pm, had two paracetamol at 8 pm, called midwife who didn't believe I was having baby and called her twice more before I said at around 11.30ish that I can feel the head. She arrived about 10 mains later and 4 mins after that DD was born, didn't get my waterbirth or gas and air...
The second I knew what to expect, spent the first two hours of contractions at a playground as my oldest was having a playdate and I knew it wouldn't happen for a while.
I think this one hurt more actually. It went on for a bit longer. Gave birth at 4am after starting contractions at around 3pm?
Both births were not as painful as when I had an abscess and needed a root canal, the pain from the abscess (not the root canal!) was much much worse.
I also had to have my second baby's placenta sort of pulled out of me, and this was worse than both births.
As PP have said, (complications aside) it isn't pain like bad injury/wound pain, it's more like when your muscles are exhausted and tired and you're being made to keep running even when you have cramp or stitches and you keep going, like a good exhausted pain.
That said, crowning stings like a bitch, for about two minutes, then baby is out and your hormones kick in. It's absolutely manageable (complications aside!), and totally worth it.