People are so kind, aren't they? As soon as they hear someone is pregnant, out come all the horror tales. However, from my antenatal yoga group of 9, 5 have had babies so far - a mix of natural, emergency C-section, early, on time, late. No one has come out saying anything about it being a horror story though. Yes, things haven't gone perfectly for everyone, but they are all happy, healthy and have beautiful babies. We can speculate that going to the yoga class has helped - not particularly for the yoga (which is gentle stretching and mobilisation rather than complicated poses and balances :)) but more for the before-and-after chats where we grumble about our aches, discuss concerns ("so-and-so said that... is that true?") and generally get de-stressed by the prospect of childbirth.
The more relaxed you are during labour, the easier it gets - endorphins (nature's pain relievers) are suppressed by stress. Relaxing and keeping moving helps babies to wiggle their way down into the right position, and relaxed mums don't get so tense!
I would highly recommend looking out for yoga classes. The one I am at is in a "parenting" centre run as a not-for-profit, and they promise to help people on low incomes, and for those that can afford it it's not too expensive either. They also run classes with local midwives about common childbirth concerns (I went to one on Induction of labour last month). Also your local NHS free antenatal classes will also go through what "normal" looks like. People may also recommend Hypnobirthing. Courses aren't cheap, but they are entirely designed around trying to teach you ways to relax in labour to avoid problems.
Hopefully if you can get onto some of these sort of courses, you can share your fears with peers and support workers and deal with some of your anxiety.