Your body was creating to deliver babies...sorry for the cliche but it's true.
Calcium/Magnesium will help with joint aches and labour discomfort...
How much Red Raspberry Leaf Tea have you been having? By this time it is best to be consuming about 3 cups per day, stronger the better...make sure it is the pure stuff.
The best thing to do is keep focused on the outcome, visualize yourself with your new baby...etc. What calms and relaxes you? Do that during labour.
Also remember, labour and delivery is normal - and your body will recover very quickly. As long as everything goes smoothly, the pain is gone almost instantly. You may have some discomfort - that will be minor though.