Question for second time (or more) moms

So I'm a ftm going on 37 weeks. St my 36 week check up my Dr said baby hadn't dropped and I'm not dialed or effaced. I've been very uncomfortable most of my pregnancy and am really hopping baby doesn't go over due. I'd rather not be induced but will go by whatever my Dr recommends. My question is have any of you been as far along as me with baby not dropping, no dilation or effacement, and I haven't had any bh( none that I've noticed at least)? When was your baby born? What did you do if anything to get your body to progress? Tia