Sex question!

Kathryn
I'm currently 20w4d with my first child. 
I've been able to feel her for awhile now and my husband has been able to feel her for about two weeks on the outside of my belly. 
I've heard stories about the baby kicking while being intimate with your partner. My husband keeps telling me that the first time he feels her while we're having sex will be the last time we have sex. 
I would rather not go without sex for the next few months. Could you ladies please share experiences and possible conversations you've had with your spouse to ease a worried first time dads mind. 
Thank you!!!