Pressure is normal in last trimester of pregnancy. It does not necessarily mean baby will come early though. Baby is hitting their final growth spurt and it's a little uncomfortable. If the pain is severe and hindering your ability to do day to day activities you might consider going to urgent care, or labor and delivery wing of hospital to be checked if you do not trust your Dr to do a pelvic check without membrane sweep.
You could try pregnancy stretches, warm bath, warm or cold pack on hurting areas, elevating your feet, and taking a Tylenol. If your still in pain even after all of that I would be seen anyway as a precaution.
Hope you feel better soon