I would say some walking... I'm 4cm and 80% effaced so I am right there with ya mamas. I'm going walking today... Oh and another tip that L&D gave me that worked for my daughter is when you're walking and you have a contraction, stop for a minute and put your feet shoulder length apart and rock your hips from side to side! It helps gravity and the contractions work for you helping baby's head move down and engage. I know at this point it might be difficult to walk so take it easy and passing you some positive labor vibes :)
Sex will definitely help if you're this far along.
Good luck!! Baby will be here soon:) the only thing that worked for me was sex. Neither me or my husband wanted to but I wanted that baby out! He was 2 weeks overdue but the next morning after we did he was on his way out!
Bumpy car ride or walk as much as you can
Walk a lot !! Your almost there