Need someone’s help 911

Abigail

I was sleeping I wake up to pee , I come pee then noticed that I have this yellow thing in my underwear I touch it is like a gooey yellow thing let’s say mucus ( not uploading picture) and my underwear is mild wet

Should I head to hospital? I’m not having any pains but my doctor said the baby was put to be born any minute (37+ weeks )