I freaked out all the way through my pregnancy. I did hypnobirthing and yoga and tried a home birth. I ended up transferring to hospital and had ventouse and a tear.
Even though it was very painful at times, I now wish I hadn't wasted so much time worrying because you have so little control over it. Your body just does it's thing and you just have to manage how you can. Hypnobirthing didn't do much for me but gas and air was incredible. I sucked my way through 4 canisters of those bad boys. It's over so quick really in the grand scheme of things and by the end I couldn't feel anything - not even contractions. It was so so weird. I didn't even know if I had torn which I did.
Do whatever you need to do to feel comfortable but know that you will get through it, you will survive and you will have something that will rock your world in the most unimaginable way. It only gets better from birth.
Good luck!