therea re some things you can do to "encourage" a good position for the baby and help with engagement:
-first is on all fours- crawling will help turn the baby into a good anterior position and that will help baby get into a good position for their head to engage.
- try to sit forward most of the time- don't recline in a chair. reclining encourages the baby to turn posterior- which makes engagement more difficult
-and squats are supose to help- because they open the pelvis and encourage the baby to engage ina good position
......Having said that- most second and third babies don't fully engage until labour actually starts.