Because I had some early bleeding, my doctor asked us to avoid all such activity for a while. So it really depends on your case. Please just ask your gynac directly, they wont judge, it is a routine thing.
Honestly this is a very normal question and nothing to feel shy about. For most uncomplicated pregnancies it is okay, but if you have a sensitive situation like placenta issues or threatened miscarriage, your gynac may advise caution. Best to confirm with your own doctor.
In a normal healthy pregnancy intimacy including this is generally fine, baby is well protected. Just keep hygiene in mind and be gentle. If you have any bleeding, pain or your doctor told you to avoid, then stop and ask.
Nothing to be embarrassed about asking. In a smooth pregnancy it is usually fine and clean hands matter. If anything feels uncomfortable or there is spotting after, ring your doctor, okay.