There are lots of exercises online to get baby engaged, eg search ‘the miles circuit’ and ‘spinning babies’. There are yoga positions to open the pelvis which will help baby move down. Circles and figures of 8 moves sitting on a birth ball are recommended too.
I wouldn’t be too concerned, when I went into labour with my daughter I wasn’t fully engaged. Using an exercise ball will help aswell as walking. Curb walking is also supposed to be good x
Ive heard the bouncy ball thing helps! Ive not tried it yet but my husband is inflating it tonight so I can give it a go! Xx