If you are planning an unmedicated, hospital birth, definitely hire a doula! Support from an experienced woman who is only there for you and your partner is one of the most important things you can do.
Taking independent prenatal education classes (as opposed to hospital-based, which are not recommended) is a really good idea too. Look for prenatal education that educates you on the physiological process of birth (how your hormones, baby, and body work), natural methods for coping with pain (practicing different positions, massage, visualization etc.), and provides you with solid evidence-based information on procedures and treatments you may encounter in the hospital so that you can make an informed decision. You may also want to practice advocating for yourself (do role plays) and thinking about how you will get the information you need in the moment at the hospital to make an informed decision about an intervention your doctor or nurse is recommending (breaking your water for you, augmenting your labour with pitocin, offering you morphine or an epidural, telling you you have to get an epidural now if you want one b/c the anesthesiologist won't be available later, directed pushing if you are assessed at 10 cm dilation, asking you to lie down to deliver, immediate cord clamping and amputation, etc. etc. there's lots that can happen!)
If you have a choice of hospitals, choose the one with the lowest epidural and Cesarean rate, and choose a doctor with a less than 40% epidural rate and 10% or less Cesarean rate (these two things are actually correlated). Each hospital is different, and these numbers alert you to whether you are birthing in a more natural birth friendly environment or not.