Labour fear

I am 34 weeks today and although I am completely DONE with this pregnancy and it's aches and pains daily, I am so so anxious about how close we are to having baby. I am so excited to meet them and find out what we have but so scared about labour, I really don't know how I'll cope but have my heart set on a natural birth with very little intervention and drugs.. Does anyone have any tips on how to prepare?