Natural birth methods?

What are the ways your can give birth naturally? I really don't want to have an epidural or be in a hospital pushing on my back.

I've been thinking about water birth or just at home birth but how painful is that usually? Does it go well? Do I need to have a midwife there or are there facilities available for a less invasive and more relaxed birth environment?

Obviously we want to be able to have medical care if it's needed so we aren't against medical intervention, but we really want the birth to be as relaxing and private as possible. Has anyone had a water birth or given birth outside the hospital? What was your experience?