Stripping Membranes

Lauren • Mommy to Madeline, Archer and Wilder!
Was wondering if any of you lovely ladies that have had your membranes stripped could give me a little bit of info? Was thinking of asking my doctor about it but wanted to know: 
1. Do they use some type of device or their fingers?
2. Does it hurt?
3. What was your end result and would you recommend it?
I'm almost 39 weeks and miserable!! I want my baby to come when he's ready but I'm just so exhausted and uncomfortable!! Thanks!!