3cm dilated and fully effaced. Sent back home. Need tips on managing pain!!

I'm trying to be more calm this pregnancy.. my first was totally different waters broke, in hospital from 2cm just didn't cope with the pain. When I tell you I screamed the whole time I'm not exaggerating.

I've had weeks of prodromal labour this time, woke up 5:30am with my bloody show. My mucus plug came away on Thursday. So I had back to back contractions from 5:30 until 8am. From 6:30 till 7:30 I was getting contractions every 3-5 minutes but as soon as I'm in the hospital they space out again!!

They hurttttt and the only reason I feel I'm managing better is because I'm using a tens machine and my waters haven't gone yet. I'm happy with how far I'm dilated but I came back home because I figured hospital environment stresses me out. Only thing I'm worried about is not coping with the pain. What else can help me. I'm using a hot water bottle and tens but the pain is something else they feel stronger than they did with my first.