the membrane looks okay-- might be a little dry- what is the humidity reading at?
Just leave it be for now, plenty of malpositioned chicks are able to hatch on their own. There's no guaranteed safe way to intervene at the minute, because the chick could be surrounded by blood vessels and isnt in the air cell. But the chick has a large air hole there, so should be fine at the moment. Wait and see for progress. In the meanwhile, have a read of the
Assisted hatching article
You may find it helpful. Best of luck to your hatcher!