Felt the baby on the inside!!!

I had the weirdest experience - the baby was kicking and moving around and my husband and I were watching my belly move. I was poking and jiggling it to try to get the baby to move more, and I poked kind of deep and hard and FELT the baby. Something hard and bony and slippery feeling. It was so weird, but also really cool. Has anyone else felt this? I'm 26 weeks on Thursday.