Is performing a two-rak'ah prayer before intercourse considered an innovation (bid'ah), and is it permissible to perform it during times of dislike (karahah) if it becomes a habit?

The Prophet, peace and blessings be upon him, legislated a specific supplication for intercourse: "In the name of Allah. O Allah, keep us away from Satan, and keep Satan away from what You have provided us." He promised that whoever recites it and is blessed with a child, Satan will never harm that child. It was not reported from the Prophet, peace and blessings be upon him, nor from his companions, that they used to pray two rak'ahs before intercourse, but there is no harm in doing so occasionally.