Silly question but engaged is when the baby turns and has their head down by your pelvis?
If so, don't worry, I haven't yet lol but my mum did at 30 weeks, with me and my brother. My aunt did at 31 weeks with both her boys and my friend did at 31 and a half weeks with her recent baby.
Mind you, saying this, we are all around 5"10, maybe because we are tall, the baby has more space?