Natural ways to get your little one out?

So I want to know what natural ways to induce labor that worked for you? I am 39 and a half weeks and I have tried everything but sex because my husband is worried he will hurt the baby but everything else just haven't worked... I'm going to ask my midwife to sweep me at 40 but I have heard that hurts so trying to avoid that... I really don't want to be induced 😩 I am 4 cm dialited and 50 percent effaced and have been for 3 weeks.