Feeling baby through vaginal wall...yikes!

Abigail
So, my husband and I have been trying to have sex, but it has been very painful lately. I decided to check and make sure everything felt ok I'm there, and I felt a hard lump about halfway up to my cervix. I pushed on it gently and it moved and PUSHED BACK!! It was crazy and scary. It kind of felt like a hand also, (my husband confirmed). I knew that the baby was low (it feels like she's kicking me in the crotch sometimes even though she's head down)  but I didn't know she was able to be that low. Any suggestions for getting her to move so we can have some normal sex?