Spend some time on your hands and knees. Washing your kitchen floor on H&K is one of the best things you can do in late pregnancy (sorry...I hate to advocate for housework, but this really is the truth). The position forces gravity to act on the heaviest part of the baby...the back...and pulls it downward and helps baby get into occiput anterior position, which encourages engagement, which encourages labor.
Most second and subsequent babies do not engage until labor is imminant, and a lot more don't engage until late in labor. But working on H&K can only help.
Good luck and best wishes for a peaceful, gentle labor and healthy and happy mom and baby.