Is it ok to have sex at 34 weeks pregnant?

JA`s Mommy👶💙
For some odd reason, me and my SO are finally having sex after 8 months and it was because of fear for the baby...Anyways I heard sex helps you towards the end of your late 3rd trimester so you can get labour going but I'm barely 34 weeks and I don't want to cause any early labour. Me and my SO had so much sexual frustration between us we had to give in....I haven't ask my Dr because we just began doing it so I didn't think it was necessary....