Finally of of pelvic rest but scared to have sex

So today I went to the doctor and was told I didn't need to be on pelvic rest anymore. I was so happy because that meant me and husband could get it on lol.. However I feel so scared to do it, well he wasn't scared at all we did it. But I was so scared I just stopped him after a little while.. Has anyone done it right after they were taken off of pelvic rest and was everything ok... I know is tmi but I really want to trust my doctor and just go for it and not feel like something is going to go wrong.