My first son was almost med-free (just a shot of demerol at some point in time - about 7 cm I think). My second was med-free, as will any others. It was the most awesome (and yes, it was painful at times) experience. What's funny, at least to me, is that my first was 8 lb, 7 1/2 oz. I had to push for 2 1/2 hours with him (admittedly I didn't pay that much attention during lamaze class ... I guess I thought I knew all that already?!). My second son was 9 lb. 12 oz, and I pushed 20 minutes!
Here's my recommendations - and YES! You can do it!
1. Labor as long as you can at home. I went in with my first because my water broke and the doctor said I had to go. I was only in the hospital for 7 hours before he was born - 2 1/2 were pushing. I stayed home the entire time with my second and was in the hospital for a total of 1 hour, 15 minutes or so ... basically for the transition period (when they checked me I was already over 9 cm) and the pushing. It is so much better to be laboring at home.
2. Use that birthing ball ... find positions that feel good. Leading up to labor (the last couple of weeks), I just sat on it with my feet/legs to the side, and bounced or rocked back and forth. It really does help open your pelvis and settle the baby down in the birth canal. Then, when I was laboring, especially with my second, I would get on my knees and rest my chest/arms on the ball and just rock back and forth.
3. WATER! Get in the bath ... take a hot shower ... it is amazing. I actually would love to get a birthing pool for the next one ... not necessarily to give birth in, but to labor in until it was time to go to the hospital. My doc/hospital don't advise being in standing water once your water has broken, but they still allowed me to sit in the bathtub (at the hospital ... and this was just with the first one because there wasn't really time with the second) with the shower pointing down on my tummy.
4. Breathe ... it seemed like a waste the first time around, but the second time I realized it really did make a huge difference. During the transition period, it is almost impossible to concentrate on anything ... I just stared at the little controls on the rail on the side of the hospital bed and breathed ... rhythmically. I had an awesome L&D nurse (I was the only L&D patient at the time) who sat right with me and breathed me through the entire time. Because of her, I am having a doula the next time ... that support was invaluable.
5. Husbands ... just warn yours ahead of time that you may want nothing at all to do with him, but once he witnesses you giving birth to your baby, he'll forget it all and think you are the most amazing and beautiful woman he has ever laid eyes on. I didn't want my husband to touch me, except with the second he really did help with back pressure ... he'd just push hard against my lower back and that really felt well.
6. A SUPER DUPER SOFT washcloth ... the first baby, I took a regular washcloth with me ... kept it really cold with ice water and rubbed my face and neck during contractions. Well, afterwards, I looked pretty sunburned because I rubbed my skin pretty raw.

So, with baby number 2, I took a really soft baby washcloth (actually two) and it was much nicer.

7. GOD - don't forget Him! I remember praying so much more with my second baby ... through all the contractions ... praising Him, crying to Him, knowing He was the source of the strength I found to get through it ...
It does hurt. But, it is completely doable. And, from giving birth with just a little demerol in my system to giving birth med-free, the recovery is so much easier, the baby is totally alert and ready to nurse, and you really feel much better. It also makes you feel on top of the world, knowing that you found within you the ability to get through something like that ... I actually look forward to doing it again!
