Inducing labor naturally

I've been having Braxton Hicks for awhile now, since around week 35 and they come and go. Mostly at night when my baby girl decides to do her gymnastics 🙃 lol. I will be 39 weeks on Monday and am wondering how long it will take for my contractions to become the real thing?? I want baby here now, I can't take it anymore and miss being able to lay on my belly! The bladder kicks hurt more than anything right now. Is there any natural way to induce labor? Jumpstart it possibly? I really want to wait till she's ready but I feel that she will go past her due date and then I will have to be induced, I don't want to have an emergency csection in case it takes too long either that's a definite nightmare. Any suggestions? I just want her here already 😩