Did your have to have a catheter with your epidural and did it hurt ?

I have a child who I had naturally no epidural or medication so I didn’t need a catheter...buttttt for me child birth was extremely painful and close to unbearable, I’m pregnant again and this time I really plan on getting a epidural but I’ve always been so scared of getting a catheter too me it just looks painful I’ve heard mixed emotions about them some say it’s painful and burns going in and coming out , and although I really don’t want another natural birth the ideal of a catheter alone could make me change my mind