We did. Finally! I have been anxious to for a looong time. We had sex up until a few days before birth, and I don't think we had ever gone more than about 8 days without sex the entire time we've been together (over 4 years), so waiting almost 6 weeks was like FOREVER. The problem was even though we had sex throughout pregnancy, early on it was tough b/c of morning sickness, and later it was uncomfortable due to the giant belly (I felt squished).
Anyway, it was slightly painful, well, more like a pinching inside the birth canal on my left side. Once we added a bunch of lube, though, it wasn't so bad, and then started to feel really good. I expected things to be all loosey-goosey down there b/c everyone says that's how it is after you give birth, but it was actually quite tight (TMI) and that paired with having to use condoms probably made it pinch/hurt a little. We got through it though, and it was quite enjoyable! The condoms suck, but I hate hormonal BC, and we don't want another LO right away.
Note: I had a 2nd degree tear with quite a bit of stitches, and it seems to have healed OK, but there is scar tissue... ??? IDK it feels weird.