Baby doesn't seem to want to come out?!

Jessica
I just came home from my OBGYN I am 39 weeks along today. 1 week to go... So I hope! My Dr. Said that it looks like my baby will be coming later then expected. It worries me and from my Dr. demeanor he's as well. 
I am planning on a vaginal birth, but he's growing and growing. I don't want the baby to rip me completely apart or have a super hard/long delivery... I am debating on having a Csection, but I don't want a huge scar or be awake for it. I also don't really want to be infused? I'm worried and confused on what to do. I like walk a lot like everyone is telling me but I am not having enough contractions... I am lost right now.