Sex at 35 weeks

This morning I kinda had sex with my ex. We haven't hooked up since I was about 24 weeks and small still. Well we did missionary position as I didn't think about it at the time. And he kinda put his weight on my stomach I adjusted him 2 times but it was still there, only took 5-10 mins. Since I had some contractions for a couple mins after,  my baby has been really high And it hurt to sit up because she's like a ball up there, hurt to walk because of her position. Now I get a pain in my lower left hip like she's pushing on my ligament.   Could his weight happen to hurt her? I just got her to move down by sitting up and rubbing where she was, she is kicking and moving.