Can sex induce labor

I’m 36.5 weeks and have avoided sex my entire pregnancy. First 12 weeks because of ivf and after that because of an early SCH then just plain fear even when dr OK’d it. Now my dr says since it’s my first birth that I should have sex to prepare my cervix cause I guess it helps soften the cervix. I’m still afraid to have an orgasm but will gentle sex with no orgasm cause any harm from all of your experiences? I’m so scared but also want to do anything that helps natural labor without inducing it too early