Have a look at the SpinningBabies website - they have a pile of positions for birth as well. In my experience, the best is to go in whatever position your body tells you to. This will help the baby out...
As others have said, it's all in your head.
Things that worked for me:
Embrace it - this is bringing your baby to you. I had a litle 'chant' going in my head "I welcome the contraction. It bings my baby closer". Surrender is a big part of the process - when you fight it you make it take longer and you make it harder. And sometimes that means embracing the pain - I remember in my first labour i sat on the toilet at one point and the cnotractions were so much more painful. IN fact, the pain I felt (I realised later) was my cervix opening more quickly. But I didn't like it and got up. Later, I realised I should have stayed there - it would have been so much quicker if I'd not been afraid and embraced that extra pain.
Open yourself - keep your mouth and lips loose. Imagine that your cervix is opening.
Be comfortable - you need to feel completely safe and at ease so you can do whatever feels right for you without inihibition. My last labour I found leaning over and swaying felt good. And I vocalise through the contractions - a big breath in and a low, aaah/ooo type noise on the outbreath (making it as long as possible).
Surround yourself with people who believe - nobody in your birthing space should doubt your ability to labour and birth.
Breathe - you, your uterus and your baby all need that oxygen.
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