I felt exactely the same way when I was pregnant with DD. I was totally terrified about the birth. I wished the whole time I didn't have to do it. I never felt I needed the experience of birth. I just wanted my baby.
I'm a total wuss with a very very low pain threshold, I reach for pain meds as soon as I have the slightest headache. I just knew I wouldn't be able to cope. I'm one of those people who tenses up when I'm in pain, so I knew that that reaction was totally wrong for giving birth. I just didn't trust myself to be able to do it.
I told my midwife about my fears very early on and even though she tried to re-assure me, after I broke into hysterics in one of the appointments she suggested to ask for an epidural as soon as I get into hospital. She put it all over my notes and stressed that I need to 'order' the epidural as soon as I get into labour (even before I go into hospital) so they are prepared for me as (unfortunately) it sometimes happes that women ask for epidurals and can't get them because the anethasist is in theatre.
Luckily, and yes I think I was very very lucky, my daughter (as if she knew she needed to help me out there) turned herself breech and in the process broke the waters, so I got a scheduled (albeit considered an urgent) ceasearan section, which was amazing. No pain, no fear, baby being born within 10 minutes.
So, after this long post, two conclusions, firstly, try to be in control of the situation, e.g. book your epidural in advance and secondly, trust that it will all work out in the end.
Good Luck and I so remember how you must feel.