When baby engages...

Sierra
Can you feel it? I've heard people describe it as feeling like your hips are breaking or like baby is about to fall out, but I am 38 weeks 2 days and have yet to feel this way. At 36 weeks he was not engaged. Everyone thought he was but I've been carrying super low my whole pregnancy. My belly has always been in my lap. So going off appearance won't work for me. I'm looking for signs I can feel. Also, I don't waddle when I walk. Is that a sure sign of engagement? I'm worried I'll have to have a c-section. He might be refusing to come out. Lol