It took me awhile to decide to pack my bag too, and now as I close in at 41 weeks, it's kind of mocking me, but here's what's in it. I packed the bag with stuff for labor on top, stuff for recovery next, and stuff for baby bottom:
--Two giant, cheap nightgown/mumu things to labor in or recover in. I hate hospital gowns so I searched out two that cover me better for under $10.
--A pair of pjs and a nightgown for after. Last time, I desperately wanted more clothing options.
--real clothes for coming home
--several baby gowns and t-shirts. I liked dressing DD in "real" clothes.
--coming home outfit for baby
--pads for after. Yes, hospital will give you some, but good to have option
--toiletries for freshening up after--travel shampoo, soap, tooth paste (I really wanted soap and shampoo last time!)
--labor comforts: essential oils (lavender and eucalyptus work for me), sachet of lavender for the tub, mouth wash (I puked with DD's labor and wanted this so bad!), tennis ball massage thingie for back, sound machine (this also works afterwards to block hospital noises)
--snacks (I don't want to be at the mercy of nurses, and I'm picky. Also DH might need something)
--change of shirt for DH (DD puked and pooped on him within minutes!)
--very light reading for self and DH
--very simple knitting
--camera & charger
It looks like a long list, but it fit nicely in a single bag. I used ziplocs to keep stuff organized.
In a separate bag, I've got my nursing pillow and a sling. That can stay in the car until needed.