How to progress

I’m 39 week 1 day today ! I had a membrane sweep at my appointment last Thursday to try to get things to progress more. I was only 1 cm and still had a thick cervix at that time (this is my 4th baby). I been walking a bunch and nipple stimulation. I had been losing my mucus plug since Saturday. What more can I do to help move things along? I have another membrane sweep this Thursday but hoping to get my cervix to thin out and dilate a little more before than. I’m trying to go into labor myself because if not I will have to be induced medically. Any advice what worked for you?