I'd suggest walking and nipple stimulation but over all, trust that your body and baby knows what its doing and that you will eventually labour - when the time is right, when your baby initiates it.

I stopped at 5cms with Marisa after not too bad labour, only my Ob sent me straight into hospital after my appt and within 7 hours was put on the drip, which was not pleasant So letting things take its course is the best way to avoid all the interventions.