help! any veterinary experience?!

So my newly adopted kitten loves to run underneath our feet, and last night my fiancé was pulling his chair in at our dinner table. My kitten Moose ran right under the leg of the table and my fiancé put weight on it, not sitting completely but was pushing himself off of the chair, and my kitten SCREAMED. He hid under our bed, and I sat next to the bed waiting for him to come see me. He finally came to me after a minute, and was holding is paw high to his chest. I felt from his paw up to his arm gently and massaged it almost, he didn't make a sound. Today he has been playing like normal, no limping noticeable, but he is keeping pressure off of it. He doesn't seem to be in pain at all, but do you think I should take him to the vet? My fiancé wants to take him because he feels so bad, but honestly I think he's just sore and a little uncomfortable, but nothing is seriously hurt. What do you guys think? Any answers are appreciated