4 month old fell off high bed on to carpet!😭😭😭😭 what to do!

Should I take him to the ER??? My 4 month old fell off our bed when he crawled to the edge and fell landing on his back. He cried as soon as he fell and my husband ran to pick him up (he was supposed to be watching him) after about 1 minute my son stopped crying and is now acting normal! But I wanna take him to the hospital but it's and hour away.. What should I do?!?!?