UTI and sex

So I'm pregnant and had a UTI last week. I've been on my antibiotic for 4 days now. Embarrassing but my husband and I had dry sex. He just rubbed on my clit. Sorry so inappropriate and juvenile but now I'm worried because of the UTI. He said it should be ok bc I've been on antibiotics for 4 days. The doctor never told me no sexual activity. I feel so stupid and horrible. Was it bad we did that? I feel like a child asking this