sex at 28-29w

So early in the pregnancy I had some bleeding. Nothing since 12 weeks. Doctor has cleared me to have sex, she sees no issues. I'm just so afraid of bleeding/spotting, and it jump starting labor. My husband and I haven't had sex since we conceived, and omg I can barely stand it at this point. Anybody had some bleeding early on in pregnancy and had sex later and was fine? Doctor has said numerous times it's okay, just scared I guess. It won't induce labor would it?? I'm only 28-29 weeks...definitely sexually frustrated