Okay, to make this experience briefed..
First off, when you're having contractions embarrassment is the very last of your concern.
Second, epidurals are not nearly as uncomfortable as contractions get later in dilation.
I was two weeks over due in both my pregnancies and I was induced both times. I hear that when you're induced contractions can be stronger...but I wouldn't know any other way to compare to.
I had a ten pound baby the first time I gave birth and I did not tear, it depends on the body of the woman and the position of the baby.
When all is said and done and the baby is out all pain is instantly gone and your focus is on the baby. The pressure subsides and whatever pain may still exist is completely off the mind, probably because at the moment it becomes more then just physical. Cherish that moment, it is very short.
All is worth every once of pain you may endure and since all mothers have experienced the pain and trails of birth it's easier to accept when the pain becomes intense. It's all natural.
I'm excited for you, it's a very beautiful experience.