Hello,
Welcome to ehealthforum and thanks for writing
If the pregnancy is normal and without any complications then usually it is safe to have intercourse during pregnancy till the time you are comfortable.
But if you are having soreness and difficulty in passing urine and walking then kindly avoid having intercourse.It can also be due to rough act or mild infection.
Kindly consider visiting your treating Gynaecologist for clinical examination and well being of both baby and you and if she gives affirmation then only have intercourse.
Avoid missionary position and it is better to have contact in other positions which you are comfortable with.
Take care!