I think that you will be pleased to hear that it is more common than most people think. Much like a woman who passes gas or defecates during child birth, you can have those potentially embarrassing moments during sex. Men, too! Typically this occurs more frequently with age or illness (also through physical disabilities, such as spinal cord injuries, spina bifida, etc.), but intense sexual activity can also contribute.
You have a great husband for having a sense of humor about it. Honestly, that is the best way to handle such situations. Of course if you are feeling vulnerable about it, let your hubby know that you need reassurance and if he is the loving person he sounds like, he will offer it.
If you find it reoccurring, check with your doctor about health issues and take time to talk about ways to handle a bowel or bladder accident during sex in the future with your hubby. Empty your bladder and bowels prior to sexual activity, keep towels, bedpans and wipes nearby if you need to. Also, you can always get a waterproof throw as these make a great way to have comfort and be prepared.
Finally, remember that good sex can get messy from salvia, sweat, ejaculate and certainly urine and feces. The most important thing to remember is that we are all human and this is just one of the many things we need to accept about ourselves when it happens. So lay back, relax and smile knowing that it sometimes happens and when it does... it can be downright funny.
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