Yes, it is completely healthy and safe throughout a normal pregnancy because the baby is well protected in the amniotic sac. Just avoid it if you have any history of spotting, bleeding, or if your gynac has advised pelvic rest.
During my pregnancy, we had an active intimate life and it actually helped me stay relaxed and bonded with my husband. Just listen to your body and try comfortable positions where there is no pressure on your stomach.
I completely understand feeling scared that you might hurt the baby, I was terrified too. But your baby is cushioned safely, so it won't hurt them at all. Just talk to your partner openly and go slow, it is totally normal.
I've always wondered about this too as we plan our pregnancy. It's so reassuring to read that it is generally healthy and doesn't affect the baby, as long as there are no medical complications.
In my 3rd trimester, my giant belly and constant tiredness make it the last thing on my mind, to be honest! But medically, yes, it's totally healthy and safe as long as your doctor hasn't put you on bed rest.
Since I had thyroid issues and some early complications, I made sure to ask my doctor during my regular follow-up visits. She told me it was safe later on, but checking with your doctor during your routine scans is always the best way to be sure.