Thanks for all the great ideas! I really appreciate all the advice. The last three days I tried squatting and that seems to be helping. One of the days I didn't have to push at all. I actually started taking magnesium glycinate a couple of weeks ago. I always have the urgency to go when I wake up and I think the magnesium helps with that. A warm bath also seems to help with the urgency.
I'm going to try out some of the other ideas and see how things go. I'm really encouraged by all the responses.