YES! Listen to your baby. Reading this thread gave me chills, and made me smile.
Early in my last labor, it felt all wrong; I was in pain, the cntrx felt useless. At 5am I went out on the deck, looked at the stars. I had been crying. But then, I just listened; I listened to the sounds around me, cleared my head and my heart, and KNEW what was wrong. Babe was posterior. I think I might have said it aloud, but I'm not sure... I did at least think that, though, emphatically, and I got a few good kicks soon after, confirming babes position.
I called my m/w for advice, since the stuff I was trying to get him to spin wasn't working (all fours, etc.), and got him to spin. All felt right from then on; I took a long nap, rousing slightly during contractions, and went on to have a wonderful pain-free labor and birth. Everything went so well that I kept telling my m/w not to hurry, do what she needed to do, etc., and kept saying that through what was (in retrospect) transition. She arrived after the birth, with my never having said "come, now!" because she wasn't needed... since she'd done my prenatal care, I think she felt obligated to look us over.
Trust yourself and your baby.