According to this article (http://www.bellybelly.com.au/birth/baby-engaged/), it seemed to suggest that it is possible for first time pregnancy to engage sooner than subsequent births. That being said, it is still dependent on the baby (and mother nature) when your baby decides to engage. It is still possible for first time mothers to have babies engaging only during labour.
For me, my 1st pregnancies was +1 week late because she was still in breech position still at 40 weeks. Gynae gave a go ahead to wait a few more days since myself and baby was okay. My #2 was engaged at 38th week, but somersaulted to breech at 39th before going back engaged at 2 days shy of 40th weeks. I guess it differs from each pregnancies.
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thanks