I felt pain in my belly and upper thighs. A lot like really bad period pain, but you could tell it was "working". With my first, it was somewhat overwhelming, especially at transition (threw up, couldn't breathe) but with my second, I felt more prepared and in control. Learn as much as you can, and find out what helps you manage pain in a normal situation (ie. massage, warm water, dark room, quiet, etc.) Those things will probably also be good in labour. I'd recommend a doula, especially if this is your first. As far as the best way of pushing, best positions, I think you kind of have to go with the flow of your labour, and do what works at the time. It wil depend on how you are feeling, and what position your baby is in.
Your mind is a very powerful tool in labour. Learn what you can about labour, and learn how you like to relax, and go in knowing that YOU CAN DO IT! All the best for a great birth.