Wiggling my uterus

Is it okay to wiggle my stomach around? Sometimes I gently push up and down on my stomach and make it jiggle or poke it to purposely make my uterus move so I can feel my baby move just to make sure she's alright in there. I say I'm waking her up from her nap 😂 but my boyfriend gets scared and says I shouldn't do that to her. Is she okay when I do?