Birth anxiety

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So I am 37+3, baby is 6lbs now. Almost nearing the finish line but getting loads of anxiety for birth. I can barely stand a cervical check without stiffing up and feeling pain, not sure how I will get my membranes sweeped at 39 wks, and then actually push out a baby ? Feels like a long uphill battle and Im scared of hurting and getting my body broken. Not complaining about anything God is good to us, just scared of the unknown. Feeling what Ive never felt before