With your first birth they probably insisted on monitoring you because they discovered meconium. I think they need to keep you still to allow the monitors to work.
Having said that (I HATE being monitored). Doctors still need to accept that a woman in labour can go through the process alot better if she is allowed to position herself comfortably.

The positon I have adopted each birth is: leaning/kneeling over the top end of the bed. Basically, I have the head end of the bed raised on approx. 45 degree angle and then I use a bean bag/2 pillows to create a hole for my baby bump to fit into. This way I don't have to hold myself up, gravity works with me and the midwife/dr can still access the baby as its born.

Everyone / everyones circumstances are different though. Don't be affraid to ask 'why' if your midwife insists on something.

Wishing you all the best.