Feeling like I'll never go into labor..

Just a little background: I'm 39 weeks & 3 days, my mucus plug came out Monday at 38 weeks & 6 days. Last time I was checked was last Wednesday, and I was 2 cm w/ a soft cervix. I have the sick feelings & Braxton hicks contractions all the time.. I know I'm not alone when it comes to the stress of waiting. I'm more so scared that I'll never go into labor on my own, and I'm planning on having a natural birth. Being that I had a cesarean with my now 2-year old daughter, the hospital staff will not take me serious if I'm beyond 40 weeks. My midwife & OB are for me having a vbac, but I'm so scared they're gonna advise me to get induced & I'll end up having another cesarean. Anyone else in a similar situation or have any advice?