Fear of epidural

I'm scared of getting an epidural mainly because I don't know if it will take properly (with my mom it didn't) and because the idea of being stuck to a bed and having no control over my legs terrifies me. I get restless and my back hurts, so I constantly need to shift my body side to side. I also don't have a high level of pain tolerance down there. I'm terrible at getting yearly check ups even at wearing tampoms sometimes, so I know that I probably should opt to get an epidural. What can I do to get over my fear?