K.L.
The best way I know to get in touch with folks who have been working on getting midwifery legalized in Missouri is to contact the Missouri Citizens Coalition for Freedom in Health Care, or MCC-FHC. You can join their email group and ask questions.
When I was planning a homebirth, I planned to have a doctor present to deliver the baby and a trained midwife to assist as well. This way, she was really the coach and there were no legal issues to deal with. Missouri has been rather stubborn on this issue. With the terrible infant mortality rate in US hospitals, I don't know how they keep rationalizing the paranoia about homebirths and midwives. In Australia, almost all births are assisted by nurse/midwives, who work with the family with all their pre and post natal needs. Doctors only get involved in very unusual circumstances. Their infant mortality rate is far better than ours! Go figure!
Let me know if you have more questions.