The first time is always the worst, only because there is so much fear of the unknown. My first time I was scared to death, I worried about labor and delivery my entire pregnancy. I'm a wuss when it comes to pain, so I went in wanting an epidural. Unfortunately my labor went so fast that I passed up the 5 cm mark (where my hospital would give me an epidural) and went straight to 10. Because of all the videos I'd seen I thought that once I got to 10cm I still had hours of pain and pushing. I was wrong. 3 pushes and hello baby. The moment it was over I thought, "gee that wasn't as bad as I thought it was going to be."
Now I have 5 children, I've only had 1 epidural. The pushing/delivery is NOT the painful part. I know it looks like it, but it isn't. The contractions can get painful, that's why I wanted an epidural, for the contractions. But you'll get through it and a beautiful baby awaits you on the other side.