vaginal discharge brown

I had to pee really bad and when I finally went to the restrooms I noticed that my panties were brown and my pee was yelllw.  (i know this is too much info im sorry) i am freaking out now.Is this bad and not normal to happen? Has this ever happened to anyone else? I didnt pee myself at all why were my panties brown?
Should I seek a health professional you think?:) no weird smell had protected sex as of recently.
This happened when I was little and haplened all the time but of course that time no sex at all lools so what is goin on? This is normal right?
Thanks so so much to put me to ease!:) Just finished my period too.