Epidural or natural. Driving while in labor

Im worried about labor pains. How was it for those who have been through it? Those who are due, will you use epidural? I have read there are side effects for both mom and baby and i would not forgive my self if some thing i did affect her. I keep telling my self that millions of women have done it and i can too. Please tell me positive stories about your natural experiences.

Also. My husband is deployed and i have no one to take me to the hospital. Is it safe to drive myself? I was thinking i might take a cab but i would have to leave my baby at the hospital to come home and get my car with the car seat to get her. I dont want to leave her there. The ladies who have experienced labor, will i be able to drive?

Edit: hospital is 7 miles away