TERRIFIED of having sex with my SO of 10+ years!

Ni

My SO and I were having sex and the condom came off during at some point. He says he can't help it and there is nothing he can do but it was lost way up inside of me and it freaked me out. Last time it was partially sticking out and I had no issues finding it. I DO NOT want to be one of those people that has to go to a doctor to get something extracted from their vagina! Any ideas or tips on how to fix this?!?! I'm terrified of having sex with my SO now!