Some light spotting or pinkish discharge after a membrane sweep is pretty common, so what you're describing doesn't sound too alarming! Every pregnancy really can be so different from the last, so even though your first one went a certain way, this one might surprise you.
That said, since the bleeding has been going on since morning and you're unsure what's normal, I'd still recommend calling your gynae or delivery suite tonight just to let them know — better to check and have peace of mind, especially when you're so close to your due date. They're used to these calls and will tell you if you need to go in!