L.C.
It certainly wouldn't hurt to mention this to your doctor. One thing my mother taught me when I had a similar issue (more common with 2nd + babies) was when you sit down to urinate and think you're finished, stand up slightly and lean forward a bit while lifting your belly just above the pubic bone (I always added a little wiggle, too!). This gets the weight of the uterus/baby off your bladder and sometimes allows urine that is "trapped" in the top part of the bladder to move down. Then sit back down and I'll bet you can pee again!
As a doula and childbirth educator, I have had numerous clients and students call me thinking their water had broken only to find that they had not fully emptied their bladder and a little shift in position allowed the "trapped" urine to move down and leak. If that's all it is, it is NOTHING to be embarrassed about. Trust me it's a common occurrence.
Give the belly lift a try and let me know if it helps. I think it's more common with the 2nd, 3rd etc because our bodies resist the changes of pregnancy a bit less since they've 'been there done that' so we often see issues such as this earlier in pregnancy than with the 1st.
Final word, if you're concerned, call your caregiver. If you're afraid you'll look silly, you likely have the wrong caregiver and might want to consider someone you are more comfortable with.
Best wishes,
L.