Helpppppp! 39+3 weeks pregnant!

39+3 pregnant and trying to find ways to start labor. I have been having consistent contractions (3 minutes apart, 1 minute each) since yesterday but they are not painful; more uncomfortable than anything because they make my stomach really tight.

I had a doctor appointment two days ago and the doctor literally could not feel my cervix because the baby's head is so far down. She said she was surprised i am even walking because his head is so engaged so they cannot tell how dilated or effaced i am.

I have not lost my mucus plug yet but last week, i was spotting for a few seconds after being very active at work. My doctor said it was due to dilation but they still cannot tell how dilated or effaced i am!

What are some things i can do to get actual labor started? I have been walking a lot but because the baby is so far down, he presses on a sciatic nerve which makes me leg give out sometimes. Any suggestions?