Bleeding During Sex?

Me and my boyfriend were having sex and everything was going fine and then we decided to switch it to doggystyle. When he put it in it I felt a sharp, stabbing feeling and I immediately moved and said “Ouch!”. The position felt more awkward than usual (I was a little more higher up than usual).

After reassuring him I was fine, he put it back in and then saw blood on him. I bled a very small amount and that was it.

Is this normal ?