Fell off bed

My little one (almost 6 month) was in the bed and rolled off the bed. My husband was asleep on the same bed as baby (baby sometimes sleeps in our bed). I heard a thunk and then I heard crying. I ran upstairs and he was in my husband’s arm crying like crazy. Omg. We checked him out and didn’t see any scratches. I was so freaked out. I started crying and wanted to take him to emergency to get him check out. Husband says he feels and looks okay. It’s been a few hours now and his back to sleeping. Should I wake him every so often and check if he stirs to make sure everything is okay? The bed height is about 10 inches and it is hard wood floor. My husband said it looked like he slid down feet first because when he saw him on the ground, feet was first and face away from the bed. Omg I am still freaked out. Since his been sleeping I check in on him every 15 mins.