Don't be concerned if you don't see them rock around. I've had plenty of good hatches that I never saw the first egg rock OR peep.
As a general rule, the chick should hatch within 24 hours of pipping through the shell. And believe me, I've had mine go 23 1/2 hours doing nothing, and then BAM! out they come. So be patient and don't panic if they don't hatch right away after pipping. I don't expect the 2 of mine that have pipped to hatch until tomorrow sometime. When it's time for the chick to come out of that egg, it will. The time between pipping and hatching is when the chick is absorbing the yolk sac...so it won't come out (or shouldn't) until that's done.