Natural birth. No midwife or doula?

So I’m newly pregnant. I’m seeing my obgyn that I’ve seen since I was 17. He works at our local hospital. I wanted to know if it’s possible that I can have a non medicated birth at a hospital with just my ob? And if I change my mind, how far can I go before I can ask for an epidural. The plan is to go as natural as possible but I’ve never experienced childbirth. I have a high pain tolerance but I’m worried I might not be able to handle it and my insurance does not cover midwives and doulas.