Hi,
I had an epidural with my 3rd baby who was 9lb 9oz. I was induced and needed syntocinon to get things going -- they got going very quickly and she got stuck so I had a low spinal first ( as I couldn't keep still enough for epidural) once that kicked in it was magic. I had no discomfort I went on to have the epidural and I relaxed and then DD was born one hour later. I felt the urge to push and pushed her out.
Every situation is different, I was induced with my first and just had gad for the delivery and the same with my second. But because DD was bigger the epidural was fabulous.

Weigh up the pros and cons and see what happens during your labour!
Sue