I was also terrified of an epidural. I was more worried about this than the pain of childbirth. The midwives knew this from my booking appointment and they never mentioned or offered an epidural to me.
I hired a TENS which was brilliant, I also second the birth skills book. I didn't end up needing anything more than the TENS in the end.
I birthed this way for both my sons, even though the second was posterior and twice as long! It's definitely possible, but I guess things need to go your way on the day as well.