How to engage baby into pelvis for normal delivery ?

Hi All

I am 30 years old and this is my first pregnancy.

I am 39 weeks 3 days and due date is August 4th. There is no sign of labour or any other symptoms. As per the latest scan , baby is in cephalic position and already 4.0 kgs and hasn’t descended into pelvis.

Can I expect a normal delivery and what should I do to engage baby to drop down or start labour naturally ?

Doctor said she will wait till Aug 4th and then decide if there is no changes in baby position to go ahead with C section.

I am just little worried , please help to pour in your suggestions or advice on all possibility of natural delivery and also on c section.

Thank you in advance.