I did, no epidural but I did take laughing gas! I'd say it's a real good alternative but you have to follow closely to what the nurses say to do :) You basically just have to hold the gas mask and take deep breaths, and after a few you'll feel the effects and no longer the pain - what I did feel was a little "high" from it haha, but nothing harmful because it went away shortly after!
As for what labour feels like, it's different for everyone - but I'd say mine felt like a stomachache that I needed to just poop. As soon as possible. The natural feeling and urge is definitely there, so just follow your instincts :)
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