Cramping during sex...?

I'm 34 weeks pregnant, I've had a hard time with sex because of being to tender. Finally had a moment where I was relaxed enough to have sex and right as we're getting into it I stopped my SO because I began hard cramping and sharpness in my vagina I turned over to my left side right away and curled up holding my belly, my SO JUST held me cause I started crying. Is it normal to cramp while pregnant and having sex? We haven't done it much while pregnant so I don't know what's normal or not.