Well, yes. You definitely can, but I assume that it will be a bit uncomfortable for you. If you don’t want to make a fuss of it, check with your hospital to find out what they provide. Then, pack the rest.
You may not need any of the extra items such as birth robes, so you don’t have to pack them. If you do decide to pack the bag, then make sure that it is ready to go at all times, or at least have someone who can bring it to you.