sex after labor

Megan • First time mom. Wife of a wonderful hubby.
I had my baby 4 wks ago and was told to wait until 6 wks before engaging in sex. However I feel like I've healed well and my bleeding is light. How long did you wait until you had sex after labor and did it hurt at first? I guess I'm just nervous about trying again and if it would be best to wait the 6 week timespan.