At what point does baby 'drop' into your pelvis?

I also never experienced the waldling, people also noticed my tummy dropping before me.
From what I remember it's different for everyone, some people's baby only engages on the day and sometimes the baby can go back up again!
Dont worry too much, but walking definitly helps this process.
I was so exited when they told me the head had engaged!

Since Monday, the milk leaking from my breasts has become MUCH thicker and yellow (real colustrum me thinks) Also, every time I walk I can feel baby VERY low and if she moves it feels as if (what I assume is her head) is grinding against bone in my pelvis area. Her kicking is also more painful and lower in my tummy than before. I also need to wee all the time whereas before this week I could go several hours with no problem! A lot of people have said my tummy has dropped a lot and I'm not feeling the constant heartburn that I have had for the past month or 2.

Any ideas or am I just a paranoid mommy-to-be?