Really really ready

So I am 35+5 and yesterday I had contractions every six minutes for 4 hours so I went to L&D......was there for an hour and a half just fit then to tell me that I'm 2cm and not progressing so they sent me home now I've been contracting for the last 21 1/2 hours but can still walk and talk through the pain so what would y'all suggest to get baby engaged to get things moving these contractions hurt but since she's high I'm not making progress