I feel like I could push my baby out...

I've been having awful lower back pain for weeks and had excruciating cramps earlier today, I came home and had a warm bath which really relaxed everything and I felt fine for a few hours. 
I suddenly started feeling pressure about an hour ago with mild cramps, but now whilst I'm laying down, I feel like I could literally push her out. I don't even know what it is, and I'm not trying to force her out, but I feel like she right there and I could push and she'd be here. I'm not in that much pain, just uncomfortable, and I'm pretty chill, so I'm just going to wait it out unless things start to get bad. 
I'm almost 37 weeks. Has anybody else had this?