Just make sure your pregnancy has no complications like low-lying placenta first. You don't want to risk any bleeding and end up with emergency hospital admissions and heavy bills!
I was so terrified that we might hurt the baby! But gynac explained that baby is fully protected inside the amniotic sac, just be gentle and avoid deep penetration.
It's absolutely safe and normal unless your doctor has advised pelvic rest. Just communicate clearly with your partner, find comfortable positions, and relax.