Sorry, I can't give you any recent positive stories at Somerset Medical Center. :( They aren't too fond of VBACs there. It will be continuous monitoring. I just heard that Alison Stone is no long attending births there though that might be something to check on.
My best suggestion is to travel to a VBAC friendly hospital. I have a couple friends who VBACed with Brunswick Hills but the births included monitoring, epidurals, purple pushing on their backs and episiotomies, However, if you really really want to birth at St Peter's, I'd try Dr Kyle Beiter. I've talked to him and he was quite open to VBAC. Plus, he comes from a VBAC and natural birth friendly hospital in NY. You will still have to deal with the staff there. They really don't have anything to encourage natural birth and you may wind up fighting them a bit; just be prepared for that.