With dd2 it still wasn't engaged at final appointment with midwife.
dd was born 4 days late but only took 55 minutes so it didn't matter that she hadn't been engaged.
I remember the midwife telling me that with 2nd pregnancy's they don't always engage til labour.
DS2 didn't engage until they broke my waters 2 hours before he was born. They had to do a controlled breaking of my waters (one midwife held on to him whilst other broke waters) because he was still so high up. Was one very bruised baby when he came out but fine now!