I went for a vigorous walk, mostly uphill, at 36 weeks with DC4. I wasn't trying to engage her or anything, just not thinking what I was doing as it was the schoolrun and we were late. Plus I have never been one to walk slowly anyway.
Once I got home and sat down, I had contractions for about an hour and got a bit scared as I was only 36 weeks. Pain stopped and lo and behold I could suddenly breathe really well but needed to wee every 10 minutes. At next MW appt baby was 2.5 palp.
Went for a 'cross country' walk evening before due date and she came the next day on her date.
Walking seems to work for me, it also got DS1s labour going.