I had a catheter with my first birth. I can't recall exactly when they took it out but it must have been soon after the birth ... I don't remember still having it in when they wheeled me up to the recovery room afterward. I think I just started using the toilet normally once I was able to walk again. I also didn't have any incontinence issues or pain from it, though I had to recover from some painful birth injuries. This time I want to go epidural-free because I want to be able to move freely and not be attached to as many beeping machines and wires, so I'm in the same boat.