Brown spotting in early pregnancy

Annmarie • Trying to conceive since May 2015. Cannot wait to be a mother!
I am four weeks and four days pregnant. This morning I had some pinkish brown spotting when I wiped and in my skivvies. 
I have had two miscarriages this year and this is always how they start. I went to the doctor today and she said  not to worry. Anyone else have spotting around four and a half weeks and have a healthy full term pregnancy? I'm so nervous!