Best way to progress?

I’m 36 Weeks & 3 Days and my doctor told me that my daughter is weighing in at 6lbs 12oz and that I need to start thinking of a day to be induced and that we will discuss doing a membrane sweep because he only wants me to go til 38 weeks due to my having gestational diabetes. The last time I was checked, he said that I was a fingertip dilated but that my cervix was still thick BUT that her head was super low and engaged. Does this sound abnormal? What can I do to progress more and get my cervix thinned out.