Yoga, walking and kegels to help strengthen your body for delivery, but other than that just not giving in to the fear and pressure during childbirth. Fear and pressure can actually make labor longer and seem more painful, psychology has physical effects/results on your body!
I know trusting in your mind and body sounds like a piece a crap, but believe me, that's all you'll have during that time. Nothing matters but how strong your mind and body is at that time. Because all your concentration will be on, the main goal, pushing your baby out!
To be honest there's nothing to really prepare you for it. Just need to be strong, have an open mind because your baby will come when he/she wants. I went in for a routine non stress test, and had to be induced at 38 + 2 days. 4 days labor she finally came naturally. Docs threatened c section because I wasn't dilating fast enough. I just prayed, changed positions and she came out. It was tough and the only thing that kept me strong was 'believing/trusting in myself and baby' and I surrounded myself with a good support system. So just trust yourself that your body and mind will know what to do during that time.
Walking helps. Don't be afraid. Should go smoothly. You've made it this far.