Hatching can be one of the most anxiety producing situations EVER! LOL
DO NOT mess with those eggs or open the incubator. If you can hear chirping then everything is just fine. It takes a while for them to hatch - even once they pip it can be up to 24 hours before the chick hatches. There can be times when a chick can benefit from assistance, but in my experience, it's only when they have glued in their shell and honestly cannot hatch because of humidity issues. Anytime I've tried helping a chick before that, I've caused more harm than good, or discovered there was a pretty good reason that chick wasn't hatching.
Hatching is not for the weak! I know how hard it is, but DO NOT mess with them. I'd suggest finding something to do for the rest of the day so you aren't checking. I find that the more I check the more convinced I am that there is a problem - when there really isn't.
Best of luck! Please keep us posted with how your hatch goes.
