Rosey I'm 37 and a bit weeks and I've found the following to help me at least 'feel' more confident that I can have a good birth experience:

Yoga- I've been doing prenatal yoga since about 22 weeks and my particular course is excellent for gently toning and stretching the body, optimal Foetal positioning and good relaxation and breathing methods. Lots of the vinyasa positions can also be used during labour.

Walking- I walked heaps right into the start of the third tri but it's actually super hard to go on longer walks now as I tire very easily and I feel like I have rag doll limbs that are too loose and wobbly at the groin and hip. So I highly recommend you walk as much as you can now, before it becomes too much!

Birth stories- I read lots of positive ones and actively seek out natural birth ones.

Antenatal classes- my hospital offers a great 'it's your birth' active labour workshop. You can also do this type of workshop through some health centres and yoga studios if your hospital does not provide one

Questions and knowledge - make sure you equip yourself with all the knowledge you can. Ask your OB if you have one and/or midwife or GP anything and everything that comes to mind. This includes stating your ideal birth preferences and also asking about mitigating circumstances like for example if you need to be induced how to make this as gradual and natural as possible. I have a list of thoughts and questions I prepare for every OB appointment and I pretty much read out the list so I don't forget anything!

Rest- while trying to stay fit I'm also trying to rest heaps as many midwives have told me a natural birth is a lot harder if the mama is exhausted before labour even begins. It's hard for me at the moment as I've had bad sleep issues though grrr!

Anyway I have not had this labour yet so who knows how my preps will pan out!