I think the idea of 'if it was that bad there would be a lot more only children' applies here. Some women unfortunately have very hard labours but there are also lots that have smooth labours.
Labours are painful. There is no getting away from that. I do firmly believe that fear intensifies that pain.
I've had four labours. First one I was young and terrified. But although it was the hardest, all in all it was a good birth. Second I opted for an epidural and had a blissful painfree time. Third I had an epidural that went a bit wrong and left me with a window of pain on my side where I felt it all and a nice numb leg for 12 hours afterwards.
My fourth was my best and most amazing. Having had three births already, I guess I no longer felt much fear about it all. I went into labour near the hospital, decided to go home nearly an hours drive away. Put the three kids to bed and read them stories whilst riding out contractions. Went back to hospital and when I got there I was already fully dilated. I had barely felt any pain. Too late for any pain relief and half an hour later, out my boy came. In theory, it was the only labour id had no pain relief so you'd think it should have been the worst. But there was no fear.
I guess that makes it sound easy to not fear and I'd had experience to help. But I do think not fighting labour and your own body helps. Go with it rather than against it. And no matter what, when you are handed that baby, all pain will be forgotten.
I'm almost jealous, labour is a very empowering feeling and I don't think I've ever felt as much of a woman as I have each time I've had my babies. Best of luck to you when your time comes 