Stretch and sweep?

Sasha • First pregnancy! Due on the 4th of December with a baby girl👼🏻
So I'm 39 weeks 4 days, and my midwife offered for after I'm 40 weeks to give me a stretch and sweep. I was just wondering what happens? Like what position do you have to go in, is it awkward, is it worth it?? Just any info you may have!! Thank you! I just get nervous about anyone seeing/touching my vagina unless it's my s/o