Need ways to induce labor naturally.

My doctor wants to induce when I hit 39 weeks, I'm 37 weeks now. I would really like to have this baby naturally since I was induced for my first. I know that she will come when she is ready but I'd like to help her out however I can. What are some tips and tricks that helped you get your labor going?  I don't want to do anything like castor oil or even eating tons of pineapple (although that would be tasty!). Thanks in advance!