Not dialated but dr can still feel the head

Hey all! I had my normal 34 week check up Tuesday and was fine, had to go back Wednesday because I was having a TON of Braxton Hicks, I actually surprised my doctor when they checked me to see what’s going on, she’s like “wait how far are you?” I said 34 weeks, she goes, “I can feel your baby’s head pressing soooo hard on your cervix!” So that explains a lot, she then went on to tell me, should I go early the baby will be just fine, still considered a premie but not in danger after 34 weeks. My question is, the baby being so low and pressing on my cervix, will that make me start to dilate? Or has anyone had that and still made it to full term??? They are saying I have a big baby, 73rd precentile, weight about 5lbs at 32 weeks..... not sure what I should prep for 😬