Baby not dropping

So I'm 40 weeks and a day... they gave me an epidural started me on pitocin and broke my water. My cervix is 100% effaced and I'm dilated 7cm... HOWEVER the baby hasn't dropped to where he needs to be.. they've put me in side positions and it's made him come down a little more but not enough yet. Has anyone else had this experience? Were you able to eventually get your baby down or did you have a c section? They told me I'm no where near close to needing one but I'm still scared.