I was worried about the awkwardness too, I was joking with my birth support partner about whether I would write hello on my boobs so it would be nice when I got naked - and seriously, I could have given birth on a main street of the city (as long as it was relaxing and comfortable and safe feeling) for all the inhibition I felt! I had a job to focus on, and couldn't have cared less about anything else.

As Kelly and others have said, by the time you're down to the business end of birth, you will not be worrying about a thing. You may even feel some satisfaction in later finding out you pooped on the hand of the person who said 'just breathe' or something.