ABSOLUTELY!! To be honest with DD (my first) I didn't and I really noticed the difference in how I coped. Despite being a midwife I still didn't know what to expect/do as a first time labouring mum. With DS for the minute I found out I was expecting him I started imagining his birth and how I would do and what I methods I would. I was a beautiful birth which I felt completely in control and comfortable in. I also believe one of the most important things for a beautiful birth/labour is your support person. They need to be on the same page as you and fully there for you the entire time.
Visulation is really important. Always remember your goal and to visualise with each surge/contraction is your cervix opening up and bringing your gorgeous little one closer.
Best of luck with your birth hun!!