wrt embracing the pain, I think tashybabe's response is awesome. I too remember feeling some control over ctx by bringing them on stronger through stomping, walking and squatting etc...I wasn't trying to "relieve" them. I WANTED it to hurt because I knew it was doing something (maybe it was because I had Premature rupture of membranes and 18 hrs of prelabour so I had the fear of induction at the back of my mind).
I also used vocalisations, so saying "Yes, Yes, Yes" when it hurt, and my midwife helped a lot by helping me change from "Ow, ow, ow" to "Baby, baby, baby".
These are all things your support can help with.
My sister was also amazing, so when I was bellowing like a cow, she's say "yeeeeeesssss, that's right" in a similar tone....almost joining in?
Urgh...I also think "what have I done?", but we can do this!!!!!!!

