We all have the fear that we were going to be bad mothers. It's completely natural and it won't end once you've given birth. I worry all the time if I'm being a good mother to my daughter but at the end of the day you do what you think is best for your LO and there isn't much more you can do. (Being worried that you're doing something wrong is usually when you're doing something right)
As for the birth; I was strangely not afraid of birth. I knew that my body was designed to give birth and that women had given birth for thousands of years without pain medicine and it helped to know that. Like PP said, there isn't much you can do but go with the flow. You may go into it with the idea of a natural birth, and everything may work out that you get just that like a lot of women on here have, but there may be a chance that you won't be able to handle the pain or a c-section is needed and there really isn't anything wrong with that. I would just suggest going into your birth with an open mind. At the end you get to finally hold your little baby, and that truly is all that matters at the end of the day!
I lived at home with my daughter when she was a newborn and I found that it helped, even though it was hard on my parents at times. I wasn't with my OH at the time and it was difficult dealing with my daughter alone. She was a baby that woke up every hour and constantly fed. Having their helped definitely helped me keep my sanity but as long as you and your OH do the work, I can't see how you will be a burden.
Right after me and OH found out that we were expecting this time, he lost his job and it's been REALLY rough, and he's been searching EVERYWHERE for a job with little luck. I was worried that he would be without a job (and thus without insurance for the babies when they arrive) but he got VERY lucky and his mom found him a decent paying job at her work that has amazing insurance. He doesn't start until the beginning of August but we're just happy that he found one. I would suggest that he look at temp agency's that way he'll have a job, even if it's just for a little bit.
As for a natural birth I have no idea. I asked for the epidural when I got to the hospital. (I was 6cm dilated but in very little pain, I just figured it'd be easier) This time around, however, I very much want to try completely natural but since I'm having twins, the odds of me having a vaginal birth are small, and probably even smaller having a completely natural birth. Just try to keep an open mind, I know it can be hard but it tends to help birth go a lot smoother.
It can't be that bad as mine was really awful and I'd do that exact birth again in a heartbeat for the best thing at the end 
