When I was in my late 20s I was certain I'd never want kids, and felt pretty much the same about pregnancy and the responsibilities of parenthood as you do now. Then I turned 30, and some weird biological thing went off in my brain and I decided I wanted them after all. Had my first at 32 and my second at 37, and most of my friends started having kids in their 30s so I'm not alone in being a little "older" with two young kids at home. But that's just me... some people change their mind about kids, but a lot don't. And that's okay.
Regarding your bf's fears about his parenting abilities, though, my dad was also emotionally distant and something of an authoritarian, and I pretty much cut him out of my life as soon as I reached adulthood. But I am NOT like my dad. We share a few personality traits, but as a parent, I am present for my children and show them both lots of affection and support, and they are not growing up afraid of me like I was of my father. Two of my best friends also had pretty screwed up childhoods (he was an accident and never really wanted, she was born to a teen mom who married the father and then had an ugly divorce), but they're some of the best, most loving, most patient parents I know. We're not doomed to repeat our parents' mistakes, as long as we're willing to learn from them.