how does baby kicks feels like

The other night I was sitting down with my husband and I started to feel these dull pains it felt like someone poking me from the inside out it was five pokes and then paused and 5 more then just a kik while a go I felt the same dull pains  in my lower abdominal area like the other day it was more active and kinda hurt is this the baby I'm going to be 16 weeks on Tuesday and my friend who has had  5 kids says the baby right on time. I'm just wondering what does the baby feel like when it moves or kicks you