sounds like baby is attempting to move into a good position...sometimes that can be very very uncomfortable especially if labour is kickstarting (which it sounds like). maybe some nice hip rocking and squats and climbing some stairs (i fashioned 'stairs' using my DDs step stool lol). it is super common for mulitpara women to not have baby engage until well into labour and honestly, dialation is not a real indicator either. i think that you are on your way