Stressed!! 38 weeks

My doctor told me last visit that I wasn't dilated at all but 91% enfaced! He also said that I may not be able to give birth because my vaginal muscle are extremely tight. This weekend I had bad Braxton hicks and it literally feels like I keep getting tighter each time. I'm so stressed.  I dont want to have a Cecerian, this is my first and wanted to to experience giving birth.