You sound exactly like me, with my first labour i had a really relaxing time, i had an epidural half way through and was sitting up haveing tea and toast whilst chatting away, until it was time to push.
When i fell pregnant with my second i always said all the way through i am definatly having the epidural and no one is going to stop me, i am terrible with pain and a real chicken, i cry at any sort of pain, have a smear test is a big big saga for me
I went into labour with my second and thought i would stay at home and deal with the pain as much as possible (like i did with the first) it then got to the point where i thought i could take no more so off we went to hospital, got there and i was only 4cm dilated, i then got started on the gas and air, all of a sudden 30 minutes later i thought oh my god i need more i need an epidural, called for someone to get me one and then got moved into a labour room, 10 minutes later and before i knew what was happening i was 10 cm dilated and ready to push, 10 minutes after that my dd was born
It all went so fast i did not have the time, although i was still begging for an epidural when pushing, i was just to late.
To be honest it was a much better labour (ver painful) but very quick and when it was over i could have a nice shower and get down to feeding dd, i never had any burning but where it was so painful i was very very determined to push for my life because i knew when that baby was out the pain would be gone.
Don't worry about it, honestly if i could pick either labour to do again it would be my second, even though more painful the pain was short lived and the aftermath was much much better.
Goodluck