I'm 38.5 weeks pregnant, how do i know if baby is engaged?

Changes in position: Engagement means the baby's presenting part, usually the head, is now down in your pelvis. Usually your abdomen feels smaller and you feel more pressure in your pelvis. Some women feel "lighter" and others feel difficulty walking or moving because of a lower center of gravity. Other women will feel pain as the head compresses the sciatic nerve. Sometimes engagement doesn't occur until labor.