I've had four vaginal births, all went fine, even though when it comes to pain, I tend to be delicate flower. I'm the type who grips the chair for dear life at the dentist for basic checks. With my first, I was a scared 19 year old. I feel I should point out in none of those was I induced - I've heard that makes a big difference, but I have no experience of it.
I did not much medical pain relief - I tried gas & air with my first, but didn't get on with it. I have a medical condition that is contraindicated for epidurals/spinal anaesthesia so never considered it as an option.
I mainly used heat packs - so many heat packs, they were amazing - and changing positions. With all four of mine, during the second/pushing stage, I ended up on all fours, pressing my head against a surface while I pushed. I did some deep breathing, but never did anything like hypnobirthing.
I found the pain after the third/placenta phase injection far more painful than normal birth contractions; however, I had them with an enlarged placenta each time (they don't tend to cause more issues though can take longer to come out) and my disabilities may have played a role in why I found them so bad. With my first, it took well over an hour - I would have been taken in for manual removal normally, but things were busy and my blood loss wasn't such that it was urgent enough compared to others, much to the annoyance of the midwife. With my fourth, a very enlarged placenta (they couldn't fit it in the normal disposal bags so it had to sit covering the little table where the implements usually are & there was a lot of talk between the midwives and other staff on how big it was), I had a natural and highly managed third phase until after the placenta passed, then had the injection to help prevent high blood loss & I had none of the pain I had with my first and third (no injection with my second, hers came out quite quickly).