Discharge after cervix check

I'm 38 weeks pregnant and a FTM and had my prenatal appointment this morning, I've had my cervix checked a few times before and got a little bit of spotting/brown discharge but today's check was extremely uncomfortable and when I got home, my underwear had A lot of brown discharge and it's been about 4 hours since my appointment and it's still coming out and there's a lot when I wipe too. I've also been having back/hip aches since the appointment that gets worse every once in a while