Brown Discharge While Pregnant

M • preggo by day | IT specialist by night | 25 & taken
Before I begin this post, I have already contacted a doctor and have been assured everything is ok!
 
So, I am 5.5 months pregnant and have been having very minimal brown discharge consitently for the last 2 weeks. Anyone else have to deal with this and is there a way I can stop it?
 
There aren't any cramps and it isn't heavy enough for even a panty liner, but it did get on our sheets last night after some hanky panky and my SO was a little grossed out to find some on his hands. 
 
Any tips?