How can I induce labor safely?

I am 39w5d and I’m 4cm dilated and 90%effaced and haven’t had any contractions, a few Braxton Hicks but nothing painful. I’m starting to think I just won’t know when I’m in active labor considering I haven’t felt a single labor sign (due the 16th). I dilated from a 1.5 to a 4 in 4 days (days between appts). My doctor had also told me baby is head down and she’s right where she needs to be. I’ve tried multiple walks throughout the day, ball exercises, massages/acupuncture, baths, miles circuit, etc. I’m running out of ideas. Trying to not be induced, he said if I make it to my next appt (the 20th) we’ll schedule an induction date and I’m trying to stay away from that