If you want him there, then ask him. I agree with Frog Princess and would ask him to stay away from your nudey bits.

I must admit I put myself in your situation as I was reading your email and nearly spat my coke back into my glass as I pictured my FIL in the birthing suite. In my situation, it would feel very uncomfortable having him seeing any of my private parts.

But you and your DH should decide. It is a day of family celebration.... what constitutes "family" is up to you.