A.L.
I've done the epidural (with my first) and then had the most amazing birth center birth, where everything was totally natural. I used hypnobirthing, and I loved it. I didn't really look into hypnobabies, because the other seemed so perfect for me, I just went with it!
First off, don't give in to the crazy stories about birth being the most painful thing in the world. It's not. Intense, yes. If not properly prepared and in the right mindset, painful may be a good word. It really is all in our heads though. We've all been brainwashed to believe that birth is painful, something to be feared but it's not, contrary to popular belief.
Don't think you're some super-hero by avoiding medical interventions or that you're a wimp if you opt for them. Birth is simply a natural process, and chances are everything will go fine if you are left to progress naturally. The moment you begin things like IVs, monitoring, medications for pain... that's when problems begin.
Think I'm crazy? Do some research. Read a few books. Ina May's Guide to Childbirth is a great book. Your Best Birth by Ricki Lake and Abby Epstein is another one, especially if you hate reading (nice, easy read with "girlfriend" language). See a few movies. Business of Being Born, Pregnant in America, Orgasmic Birth... all amazing movies.
I would never birth in a hospital again. If you live in the Redlands or Riverside area, look into Inland Midwife Services. The care you will receive there is amazing, the entire staff want to make your birth a memorable and amazing birth. You make the rules, you have all the options.
And don't bother reading the What to Expect books... they'll just stress you out. Some good info in them, but there are much better books out there.