39 weeks 4 cms HELP!

Any safe way to help my baby decend . Which when I had went to l&d; they check me I was at a 3. They told me when they check me they would touch the top of his head and he would bounce back from it. They told me they just want to wait till my water breaks. My feet and legs are to the point where they are so swollen I have to get new shoes for now. I need safe ways to try to get my water to break or help me go into labor. I can’t really walk because if I walk to long my knees give out and I drop to the ground. So any comments to help would be lovely 😊❤️