Bleeding

Hello need some advice or seeing if this has happened to others.

I’m 20 weeks pregnant with my first. Felt my baby girl move this past week for the first time. Last night my husband and I had sex again after we hadn’t in about a month. It was not super rough but I little. I never felt any pain during sex. After I started bleeding and it was more than spotting. Like when you’re first starting your period. When I would pee more would come out. I had very minor cramping. I went to sleep and woke up and I had bled a little in my underwear during the night. This morning, went pee again, had a little bit more bright red blood. Then an hour later it was brown and light and now it’s gone and I’m just a little sore, no cramping.

Has this happened to anyone? Should I go to the ER?