I had this exact same thing, my baby was 4/5 engaged at around 29 weeks and then every two weeks from then at all of my midwife apts it was 3/5 engaged. I went back last week for a 39 week check up and hte baby has moved up and is free (the midwife could put her hand in under the head)
I am doing everything in my power to move the little one down (bouncing on the fit ball, walking up and down stairs, long walks) I go back on Thursday to be cheked and I will be 3 days over by then. Praying it's on the move in the right direction now
I hope everything goes well for you and that bub stays in and grows nice and healthy before gracing the world with it's presence.