38+4 in a lot of pain

So like the title says, I’m 38 + 4 weeks and I’m in a lot of pain. My baby is rubbing on my cervix constantly. Every time he moves, kicks, punches, whatever, it hurts and I can’t take it. I’ve already been up to the hospital for contractions and I’m only 3cm at 80% effaced. So they won’t do anything. and I haven’t made any change. It hurts so bad. Every time he kicks too it’s followed by an extremely painful contraction that’s focused down more below. It honestly feels like my uterus is about to fall out. What can I do to relieve this? I need something I feel like I’m going crazy.