Epidural alternatives?

Jen • 35 year old mom of 2 boys (14 and 4 years old). This is our 3rd and last baby and we are finally getting a girl!
In pregnant with my third baby and would like to avoid the epidural this time as I had it with my first two but would like to be more mobile. Has anyone used IV pain meds instead to take the edge off? My midwife said there are good alternatives but wanted some additional expierences.