Scared to have sex

I’m going to be honest, my husband and I haven’t had sex since the month we conceived. We’ve both been too scared to have sex while pregnant. Before 20 weeks I was scared of a miscarriage and then I was just scared I would induce labor. Now at almost 35 weeks I’m ready to try to have sex but I still worry it will effect the baby. I’m not worried if it induces labor because my doctor said I’m measuring far enough along he won’t try to stop my labor if it happens. I don’t know what position to do, if it will hurt and for some reason I still worry about the safety of my son. Please give me some advice or reassurance because I want to try sex to induce myself once I’m considered full term.