AHH!! Has this ever happened to you?

So I had sex yesterday and my boyfriend and I changed positions like 4 times. But we were in this one where he was behind me (doggy-style) and my vagina made a noise. We both didn't mind it at the time, but when we were done I got up to put clothes on and my vagina made a noise again. I just feel so embarrassed about it. Should I have anything to worry about? Has it ever happened to anyone else?