What do I do?!?

Im 39w & 3d my past 3 appts they can never tell me if I’m dilated .. every time they check me it puts me in excruciating pain that I come out of the doctors crying & all day I cramp like crazy. When I get check down there to see if I’m dilated the doctor tells me he can’t find my cervix , that its behind the baby’s head & in order for him to be able to tell me if I’m dilated he would have to make me feel highly uncomfortable .. for the past week & 1/2 my baby has been really stiff .. he never moves from the same place , he only re-adjust him self but never moves. I’m having a hard time sleeping now as well it hurts when I move , sit or even lay down for long. My belly button hurts & It also hurts to pee at this point (I don’t even pee a lot it’s only 3-5 drops the most) I haven’t slept in 2days. Why can I do? What should I do?