Possible Braxton Hicks?

So I know they're common, but this is my first pregnancy (24 weeks +3) and I'm unsure of the symptoms. My abdomen area will get really hard every once in a while through out the day. Sometimes I'll notice a bloating feeling with it before it happens. It's not painful, just makes me feel yuck for a few minutes. Then it'll go away. My midwife had asked me last week if I had been experiencing any BHC and I said no but since she asked I've been more aware of the episodes. I've heard they can happen without any pain too, which if this is what I'm experiencing, it's without pain. I just wanna know if I should be worried about it or if it's a total normal thing to happen. Obviously if I was in any horrible pain or anything like that I would go to the ER. I'm just curious of what's going on!