Hi Pam, I had a vaginal birth and I stayed in hospital for 2 nights.
I actually didn't mind it cause I think I was a bit of shock with having a baby all of a sudden, LOL.
It was good to stay there to get the help from the midwives too.... especially if you are planning on breastfeeding... I would advise to take as much help as you can get from the midwives, on attachment, etc, while you have the chance.
It probably is just a guideline (the amount of time you should b staying in hospital), and if you are feeling fine, and there are no problems, they would probably consider your request to go home earlier.