While it was painful to you (as birth is painful), it was right for her to turn the epidural off so you could get the sensation of how hard to push, when to push, etc. A lot of first time births are really long on the pushing part. With my son I pushed for more than 2 hours and broke blood vessels in my eyes and face. At my hospital there was no pain medication option and I had an excruciatingly long labor (more than 48 hours) that was augmented with pitocin.
Women sometimes get a lot of regrets about their birth experience and what they have no control over (labor).
I hope it was very helpful to have a doula with you!
At your next doctor's appointment, take some time to discuss with him what your experience was and how it has affected you.
You had the best outcome though! You have a perfect little girl! Congrats.