I was most comfortable sitting cross legged between contractions, and then kneeling up during contractions, or leaning forward onto pillows while kneeling. I needed to be in a position where I could MOVE during a contraction, because that helped me manage. Rocking in a glider was nice during the milder contractions early on. But the only thing that really helped when it got rough was walking. As long as I kept MOVING, I was fine and in control.
The one position that SUCKED was lying on my side. When they tried to get me with the stupid fetal monitor, that's how they wanted me to lie, and it was terrible. After the first time, I wasn't having it.