Is sex still safe???

Telia

Hello! I’m currently 39+5 weeks, 1.5 cm dilated and 75% effaced. I was just wondering is it still safe for me and my boyfriend to still “do the dirty”? Ive heard it can help speed things up but I just want to make sure under these specific circumstances it’s still safe. We did it earlier and Im not sure if I’m feeling anything. I’ve been having more Braxton Hicks since then so let’s keep our fingers crossed! Maybe a dumb question but if my doctor can feel baby’s head when he checks my cervix, does that mean baby can get poked down there??? LOL thank you ladies!! (First time mom so bare with me)