I don't think you are terrible at all! I had an epidural with both of my boys and loved my labors. I would never do it any other way, if I had a choice. I say, go with what you are most comfortable with. Birth is the most personal experience there is and there is no wrong way to bring life into the world.
Happily married, Mom of C (15), M (3), and E (1). Expecting a very big surprise baby on 3/25/14.
WAHM of hand-embroidered creations in my Etsy shop here.