Baby movements after sex 19w4d

Cassie
My hubby has always been a little weird about having sex during pregnancy  even when we were less than 8 weeks along. This is our first. I finally got him to understand he can't hurt the baby as his coworkers are telling him that once my belly is bigger we can't have sex because it will be in the way.  Tonight we had sex and afterward I lay in bed feeling my uterine contractions (like it usually does) except this time I could feel baby move from the outside.  I was rubbing by belly and feeling baby move and he thought he hurt baby! It never hurt at all, baby was just active 
What do I say or do to convince him it is ok and normal for us to have sex? Should I bring it up at our next appt?