Worried

Hey! Okay so my husband and I had sex for the first time in a while (I’m 24 weeks pregnant and haven’t had the drive) also -side but important note- it lasted about 5-7 mins lol. Anyways it was missionary position. My back was propped up by a pillow and he didn’t put any weight on my belly but now I’m nervous after reading to avoid that position.. all together. Do you think baby is okay??