This may not help for you, but I found it to be very helpful. That is, to think about where the pain in labour comes from.
The uterus is a big muscle with lots of ligaments etc attached around it. When muscles contract, and hold it for a minute or so, lactic acid builds up and it hurts. This is the same as when we use our muscles for anything strenuous like weight lifting or running. The muscle is sending a pain signal to the brain, but it's not "OMG my leg's been cut off" pain, it's "this muscle is working hard and needs a break and some oxygen soon" kind of pain. There is also pain associated with the cartilage of the cervix softening and opening, but again this is normal physiological pain and not injury pain per se. Because we're not usually familiar with feeling this kind of pain in this area, and because we also know cognitively that a baby coming out is going to happen, the pain of labour can be frightening. It also can get very intense and overwhelming. Having skills to allow yourself to enter the pain, to notice it, and not to suffer, is very helpful.
Have you ever done anything very physically strenuous? E.g. triathlon, running, long distance backpacking, yoga, etc? Anything that pushed your body physically to the limits? Labour is a lot like these things in my mind. I used to do a lot of long distance backpacking, and there always comes a point where I would feel that I just couldn't go on. My pack was heavy, and my legs were sore, and my feet (I never even usually wanted to admit they existed)... But, I was always able to stop for a sec, readjust my pack, and continue to put one foot in front of the other. One foot in front of the other, one foot in front of the other, left, right, left, right. It became a mind game at that point. When I would reach the destination, my feelings of elation and relief, and pride would be so strong and so worth the pain of getting there. If you can push through and carry on, you will make it.
(Caveats! Sometimes women do reach their physical limits in labour. 24 hours of active labour with very little progress, and no food can make an epidural the natural, compassionate choice! This is by no means suggesting that women who need extra help in labour just didn't have the willpower to continue. However, with normally progressing, low-risk labour, I do think that most women can do it.)