I want to switch hospitals. Have no idea what I should be doing to do that.

I want to switch hospitals, the one I am going to now, I go to the health department there because I'm on Medicaid. Let's just say they're not very reliant at all with their care, including getting blood (with the patients names on the vials!) mixed up quite frequently etc. I'm 31 weeks now but would love to deliver at another hospital that is just a few more minutes away from the one I'm currently going to. The other hospital does take Medicaid, but I have no idea how I switch and if i have to let my clinic know that I'm switching? Help! I really don't have any idea what I'm doing haha!