Right! With dd, the only time I was scared in labor was transition, because my previous birth had felt like that the whole time, and I thought the hard part was just starting,with hours and hours ahead of me. Then I got that little break between transition and the pushing stage, during which I went to go pee, and my midwife showed up.
She actually didn't want to check me because I think she was afraid to tell me that I had a way to go, but I was feeling really pushy, and it was so hard to not obey that feeling, but I needed to know it was "ok" since I'd felt that way for most of my labor with ds. So, she did check and I was fully dilated. I pushed for a few minutes, and as I was in the water in a position hard for the mw to check, she asked if I wanted to feel for the baby's head myself.
I think feeling where the baby's head was made a huge difference in my pushing effectiveness, since I could really feel what kind of pushing was most effective, as well as it just being so gratifying to feel how well my body was working! I also attribute having my hand on the baby's head as she crowned, as well as not pushing through the ring of fire, with my not tearing. I had a prior episiotomy, in which one of the stitches tore while it was healing and felt as if I had a weak spot there, but dd was a lb heavier, and no tears at all. While she was crowning, my body pushed her out on it's own while I breathed through. My body knew exactly how hard to push to get her out safely, without tearing me. If my mind had gotten in the way and I made my body push harder than it wanted to, I feel I likely would have torn.
With some pushes, I did help along, adding to the uterine pushing, but only when it felt right and comfortable and effective. This was typically several short pushes with each contraction, never one long push through the whole thing.
The interesting thing about pushing out dd was that after she crowned, I lost the urge to push. Then, pushing seemed to do nothing. (it was all head pushing, not uterine pushing) I just told my midwife it wasn't working for some reason, and she felt and discovered the cord over the baby's shoulder, which she slipped off, and then my uterus started pushing again.
I think, somehow, my body felt that the cord was taut, and wasn't going to push until it was safe.
Our bodies are simply amazing, and if left to their own devices without our heads or other people interfering, will simply do an awesome job doing exactly what is needed.