does it hurt when your doctor feels for the baby's head

Anastasia
Yesterday I went to my appointment and I laid down and could tell my lower area was tight. He pushed to feel where the baby was and ouch! It hurt on both sides of my hip bones (on either side of where the baby's head was at). He just said your really tight right now. I'm 37 weeks today, does this get better ? Like will those areas relax?
One night last week while laying in bed I flipped sides and felt the same pulling feeling. I just though huh weird. But didn't feel it any other time.