Membrane sweep

I’ve never been this pregnant in my previous two pregnancies. My first was a 33 weeker and my 2nd 37+3days he was born. I have an appointment on Thursday where I’ll be 37+6days my doctor mentioned last appointment we could do a membrane sweep. My question is does it hurt? Should I do it? Since I’ve never actually made it to my due date. I’m confused as what I should do, I do want her out but also know how important it is to let them cook a bit longer.