Laboring at home

Could someone explain this to me? I'm a FTM and I would like to labor for as long as possible at home... I just don't know how that works. When do I know to finally go to the hospital? And big question: how do I know something isn't going wrong with baby? I'm scared I will labor at home and something will be wrong like he's stuck or his heart rate drops. Help is VERY appreciated!!:)