How to tell if you baby is laying 'right'

Roxanne • Pregnant with baby 5, due June :)
I live in the UK and i haven't seem a midwife since I was 24 weeks and no ultrasound since 20 weeks. For the last 24 hours I have had repetitive movements and it feels like the baby is trying to turn and can't. I'm nearly 34weeks and it feel like little man is laying sideways instead of head down . Is there still time for Him I turn? Maybe anyway I could encourage him to shut? or should I contact my midwife, not due to see anyone for another 2 weeks. This is my 5th baby and I've never experienced such discomfort with movement. Thanks in advance for any advice. :)