You don't have to stay very long anyway, unless you have one of those mega anesthesia epidurals. What you need to do is wake up in labor, so you're not too exhausted when it's over. If you don't plan it well (heehee) you'll go into labor at night after a long day, and then you'll be too tired to deliver efficiently.

my cousin only stayed a few hours she didn't have the epidural but my husbands friend who had the epidural stayed 3 days