Did I feel the baby kick???

I am 18 weeks, and my midwife told me that I can lay down on my tummy insofar as I am comfortable. Still, I have been avoiding that position and laying down on my side! Today i forgot and without thinking I rested on the floor on my tummy and began to feel punches coming from inside my belly! I immediately began to change position, thinking that it might be the baby kicking! I thought the baby was saying, "hey! You're making me readjust myself!". I never felt any kicks before, only flutters