Can you feel baby moving when in labour at home?

Ra

I know this might sound a bit silly but when you are in labour in the house do you feel the baby move? I'm just wondering with the pain of the contractions if you can still feel the baby move. How do you know the baby is okay?

I'm worried cause I'm 41+1 now and babies head isn't engaged but it could engage when I go into labour. What if my waters break at home and baby hasn't engaged there's then risk of cord prolapse. How do i know baby is okay?