How does one enjoy sex while PREGNANT!

Hey guys, so this is my third pregnancy and I’m about 29 weeks. I cannot enjoy sex! It’s just so painful and uncomfortable. Sometimes my husband cannot finish because he sees how uncomfortable I am and he knows when I am faking the noises I make lol! On top of that I really can’t help him finish with my hands because I have carpal tunnel too! Ah! Seriously, this pregnancy has been the hardest for me. I need some tips and advice on how I can enjoy sex while pregnant, maybe some foreplay? Which is something we’re both bad at, but it looks like that’s what we need to do instead of having sex lol! Help! I’m a newbie to foreplay and especially for my husband.