Bounce or constantly sit on an exercise ball...that's what I did for my first and was 3-4 cm by 38 wks and went into labor at 39+5 :) and had a good vaginal delivery.
Start drinking raspberry leaf tea about 32 weeks, helps make you dilate quicker!
What are some good stretches?
Prenatal yoga, walking, stretching, birthing classes, preparing yourself mentally...