My doc started checking me at 35 weeks. He just sticks his hands in for about 3 seconds. It hasn't made me bleed or contract.
I'm 36 + 5 and I was checked yesterday. It could or it couldn't, it depends on your body.
My doctor told me a little bit of bleeding afterward is completely normal. Even a whole day later. I was checked for the first time a couple weeks ago and had no spotting or bleeding at all. They check by doing a pelvic exam (using their fingers).
My dr check at 38 weeks. And them checking tp see if u are dilated will not cause u to bleed or go into labor.