My birth plan is literally one word - epidural
I loved my epidural with DD (I didn't cope very well with the 24 hours of contractions before having it), it was a low dose one so I could still feel pressure from contractions, when to push, and felt baby come out all without pain. I really hope the next experience is as good and my only fear is not making it to hospital in time to have the epidural!
The way I personally view epidurals (and other forms of pain relief) is evolution temporarily screwed human women over; by changing our pelvic structure while we evolved to walking on 2 feet, and giving us increasingly large heads containing complex brains - and now finally the world has balanced itself back out by making said brains clever enough to come up with complete pain relief solutions to counteract our difficult labours. I'm just grateful I was born at this point in humanity