Thoughts on epidural?

This is my first pregnancy, i am 28weeks and 5 days , and i can honestly say that im so nervous about going into labor and giving birth 😩 . To other moms who have gotten the epidural .. Is it worth it ? What does it feel like when actually getting the epidural (when sticking the needle in your back )?what are your experiences when getting the epidural ? Around how many cm were you dilated? And did you still feel anything when pushing ?