If the pain gets to unbearable, get an iv of pain medicine instead of the epidural.
Look into hypnobabies or hypnobirthing. They're both awesome programs for natural birth. Also, read Ina May Gaskin's Guide to Childbirth. Great book by pretty much the most famous midwife in the US.
If you had no problems with your first delivery, I say go ahead!
I wish I could get a midwife and have my baby at home but it's impossible for me:(
Good Luck;)