Ways to induce labor naturally?

I'm not looking for the comments saying "baby will come when ready". Trust me, I know that lol. I'm trying to find some things to do that will bring on labor. Its more just to pass the time until my induction at 39 weeks (gestational diabetes). I am 37 weeks now and my doctor said it was fine to try things to get labor started. I really don't want to have to be induced. I want to do this on my own. I was induced with my first and I just want to go into labor naturally this time. I feel like Ive tried most of the usual things like squats, dancing, walking. I just want to know if you ladies have ever had anything that you believe worked for you. Any ideas on how to get the ball rolling? Im already 4cm dilated and 50% effaced. I'm not interested in castor oil and I've been told by my midwife that its dangerous. I want to meet my baby ASAP lol.