I second what sweet.p said. I met Penny at a conference and I think she would be eager and willing to help. With that being said, the Labor Handbook written by Ms. Simpkin would be very helpful. It has all the positions for laboring in bed, with and without an epidural, as well as when they are indicated and contraindicated. I also think that hiring a doula could make a huge difference. Just having a handout of the positions will likely not be enough during labor. She's going to need someone to encourage her to get into those positions, remind her when to change them, and if she has an epidural she'll likely need help physically repositioning herself as well as suggestions about how and when to move. And of course doulas are helpful for all the usual support reasons. She might find the extra encouragement and support really beneficial since she's feeling apprehensive and like she's up against an extra challenge.
You can also encourage her that she still has options. Is it possible to get telemetry monitoring? Then she has more freedom to move around, walk the halls, possibly get into the shower if they're waterproof (something worth checking on with the hospital in advance of her birth as they may have to contact the manufacturer or do some other hunting which will take time). I've found that the intermittent monitoring isn't very "freeing" either. Most of my hospital clients end up just going with the continuous monitoring after a while, especially if they can get the telemetry, because having your focus and/or positioning interrupted 40 minutes after they let you off the monitor just so they can hook you up again can be really disturbing. I will caution, though, that if your friend is overweight, it can be more difficult for them to get their 20 min. reading, and she may have to lay in a certain position for that time. Not to discourage her but just to prepare her that telemetry might not work for her.