I had this, gave birth at 41 weeks.
Baby could not not engage as had umbilical cord wrapped around neck twice.
I was given an epidural and told to NOT push until they had released him ( doc stuck hand in and disentangled him).
It was a bit risky as I had a speedy birth and only got the epidural just jn time ( without it I would not have been able to resist the urge to push, and would have strangled him. )
I still think about this sometimes, and do retrospective worrying....
Good luck! I would follow doc's advice, safety is everything.