If you think of a woman about to give birth, you will notice that gravity naturally works in her favor while she is standing or squatting.  While you are in labor, you should try various positions that feel comfortable in the moment. Moving your hips in a circular motion while in some sort of supported upright position will help your hips and pelvis widen to help the baby move down for birth.

The nice part about avoiding unnecessary medical intervention is to allow your body to labor and birth in natural positions that nature intended them to birth in since humans have been around. You should also be aware of the "transition" stage of labor that occurs right before it is time to push. This is when most women are really tested in how well they can handle labor and a good caregiver will let the woman work through this.  After transition, you are in the pushing stage while feels completely different!