Tips on having a med free labour and birth?

With my first I had epidural. But laboured at home for over a day with strong intense contractions. They just wouldn’t admit me because I wasn’t dilating. When I finally got the epidural I jumped (so now I’m paranoid about that) and the epidural only really helped me sleep. By the time I was pushing I literally felt everything. I was screaming and crying. I felt my contractions.

So this time around I feel like I can do it naturally since I basically did. But that sh*t HURT! So I’m getting anxiety as the days get closer...

Any ideas/tips would be greatly appreciated.