I had a great HBAC, with a country midwife. If I can do it with a 10 lb. 2 oz. boy with a nuchal arm, I feel like anyone can who wants to (barring things like placenta previa, etc.. but those are usually easy to rule out beforehand).
I posted my birth story here, if you want to read it, I think you can look for my posts by my username. oh, and he was born 'en caul'! It was a first for my midwife of 30+years experience too, and doubly unusual in such a large baby.
The thing that helped the most I think, was that I wasn't fearful (got the heck out of Dodge when my "pro-VBAC" OB started talking about how wonderful induction is, even on a VBAC, and got to fear-mongering about ruptured uterus. My midwife's response was, "It's like any other labor and birth so long as you don't mess with the labor process or mess with her uterus with drugs to hasten labor."
And so it was. The best part was, with the midwife remaining respectfully quiet when I needed her to, and letting me do it my way instead of dictating to me, my body took over and nature ran its course. It was amazing.