What are some positions that are comfortable to give birth?

I sat the bed at an angle between sitting up and laying down

Squatting, my hospital had a bar they put over the bed to hang on.

I know if you get an epidural you’re a bit more limited in positions allowed. Whatever position you’re comfortable in is great! But staying on your back is working against gravity for the baby to come out. I had mine on my hands and knees.

They had me pull on a bar but it was in front of me.

I birthed on my back, first birth, no epidural, and it really wasn't that bad. I tried to position onto all fours over a bean bag and couldn't get comfortable. Just talk with the LD nurse that you want to try different positions and they should be able to work through and help you