did sex make u go into labor?

Victoria
I'm 36 weeks and the doctor swears sex , well the sperm can help labor start. My husband is terrified to have sex with me lately! I can't even imagine with this huge belly how or which way we would have sex. But I am determined to have this baby! Lol tell me what you think or experienced! 
Update: I'm measuring at 42 weeks, baby was estimating at 35 weeks 6pounds 9oz, my blood pressure is higher then mine usually is but not at a concerning point yet and I'm very swollen