Worried FTM. I am getting induced Saturday pre full term, medically needed.. if you were induced did you have any complications or was it a great experience?

I am a first time mom and I am definitely worried about being induced. My plan was using hynobirthing methods with no epidural for my labor to be as natural as possible.. however I am now scheduled to be induced Saturday, Christmas, due to my medical conditions. My perinatal doctor is concerned about waiting any longer with the fear I can become septic. Even with this being a major concern I am still worried that I may have a failed induction or need to have an assisted delivery, an epidural and everything I was trying to avoid because of becoming induced. Has anyone had a great induction before being full term? TIA❤