Inclusion Criteria:  18-50 years of age Term (37-41 6/7 weeks gestational age) Low risk (i.e. without any maternal or fetal co-morbidity) and who are candidates for outpatient cervical ripening per the Brigham and Women's outpatient cervical ripening protocol Singleton pregnancy Cephalic presentation  Exclusion Criteria:  Prior cesarean section Any contraindication to outpatient cervical ripening per Brigham and Women's outpatient cervical ripening protocol Non-English-speaking