Is it typical to have a catheter during labor and delivery?

I feel completely unprepared for this birth! This is my first baby and I’ve never been in a delivery room with family/friends while they gave birth so I have a million unanswered questions still. One I’m particularly worried about is whether I will have a catheter inserted during the birth. If I deliver naturally with no complications and I get an epidural, do they typically use catheters? I have this horrible fear of them ever since I had one when I was a child. I remember intense pain and me laying on a table screaming and crying for my mother. Yikes.