For me, the answer is yes. But what really made the difference in the end was that I knew what I was in for. I spent the last trimester of my second one preparing myself for everything to make sure I had everything set in my mind before anything happened and when the time came I felt more empowered than I did first time round.
First time round, I think that I was more relaxed, and put my faith and trust in the medical profession. The second time round I put my faith and trust in myself and DH first before the medical profession. Second time round I was able to stand up for myself and have the confidence to say I can do this and this is how I want to achieve it. For me that was the most amazing thing to happen, for when the time came I handled labour and delivery so much better than the first time round.
On the pain front, it hurt both times, and Im going to assume its going to hurt this time round too but I know that I will be able to handle what is thrown at me.