Hot baths while pregnant

So Im 19 weeks and I've been trying to get my baby boy to kick for a while now. Just when I give up I go to take a warm/ hot shower then sit in a hot bath because of how sore I am soons I lay back in the tub with the water on my stomach the baby kicks and kicks and kicks and want stop kicking lol it's my first time feeling it so im super excited but worried at the same time. I've herd that you cannot take hot baths while pregnant and im worried about the baby now because he kicked so much I worried if I hurted him ? Anybody have any reassurance for me ? should I be concerned ?