TENS machine! Really helped in the early stages, which gave me strength for the more intense labour pains. Also deep controlled breathing through each contraction. I mostly sat on my exercise ball, or knelt and leaned on it. Being able to move and rock was really helpful. When the TENS machine wasn't effective any more, having my husband massage, or even just put pressure on my lower back really helped. A warm water bottle on my lower back was helpful as well.
One thing I did that I think might have helped speed up labour/dilation was that when my contractions were really strong and painful (no clue how dilated I was as I was at home after being sent back from hospital cause I was only 2cm, but when I came back less than 2 hours later I was 8-9) was to really focus on relaxing my lower abdomen. I was on "all fours" leaning my arms and upper body on my exercise ball, and I noticed that I would often tighten my abs and "hold" my belly during contractions, so instead I tried to relax it completely and let it really be loose and "hang down". It didn't hurt more, but for me it required a lot of concentration. It was good to have something to focus on though, and I do think it was helpful, it felt more effective. I have no idea if it actually is more effective though... For me not having drugs at all and just letting my body take the lead was probably also what made it quite quick. (4 hours from they sent me home from the hospital when I was 1,5-2cm until the baby was born, this was my first baby)