Not Dilated.

So I just had my 36 week appointment, got my cervix checked. I'm not dilated any, but he said my cervix is really soft. Also said he could feel my baby's head. (I'm guessing from my cervix being so soft he was able to?) I am really scared I won't dilate properly when it is time to deliver and have to have a csection. Has anyone else not been dilated at 36 weeks and still delievered vaginally fine? I really want my labor to go by quickly too.