Bleeding after sex at 24 weeks??

The other night me and my husband had sex for the first time in about 2 weeks. It was a little uncomfortable for me and honestly I think he could tell and just kind of rushed though. Afterward I went to clean up and I noticed I was bleeding. I know it’s normal to spot after but this was a little more than just spotting. I got off the toilet to ask my husband to bring me more toilet paper and had a few drops of blood drip on the floor. Needless to say I freaked out, but put a pad on and kept an eye on it for the rest of the night. The next morning I still had some spotting but it was just old blood because it was that brownish color and there wasn’t much of it. I really only had anything when I would wipe and by that evening I was wiping clear. I cramped a little after the sex but that’s normal for me. My question though is is this normal or should I reach out to my OB before trying to have sex again? It freaked me and my husband out pretty bad especially since I’m pregnant with our rainbow baby, so I don’t think we will try again any time soon, but Im sure we would like to try again before the baby gets here 😅