Membrane sweep?

Im almost 39 weeks. I went to the doctors yesterday and she told me im only dilated 1cm. I go back next week and im going to request a membrane sweep to induce labor, because I am just so ready to have my boy and sick of this terrible pelvic pain every day. What exactly is a membrane sweep? How do they do it? Does it hurt??? If you had it done, how long after did you go into labor? Ftm here and don't know anything about it except that it can make you go into labor. Im miserable 😩