Past the 6 weeks mark. It was still uncomfortable until like May the next year (I had daughter end of September). But there's a reason they tell you 6 weeks.
With my son we waited the 6 weeks and I regretted it. It was so uncomfortable where I had to get stitches. So after I had my daughter we waited 8 weeks., it was still uncomfortable.
My OB said just until the bleeding stops. Mine stopped at 2 weeks. I started again at 3 weeks. Y'all can judge but I just found my husband so much sexier since he became a dad lol