Take him in or Tylenol?

My 2 year old slipped on something last night, I wasn’t watching how he fell so I’m not sure. He cried & was limping right after his fall. He didn’t want to walk after his fall. I decided I’d wait it out & see if it swells up or not. Come morning, he’s still limping & not really wanting to put pressure on it. I had to wait for our vehicle to come back home because someone took it with them to work so I was just keeping an eye on my boy & his foot.

He’s walking around on it now but is still limping, it was swollen this morning as well. I believe it’s still a bit swollen right now. Should I take him in or give him Tylenol & put an ice pack on his foot?

This is the swollen part on his foot

*Update* thanks for the advice y’all, I took him in & the doctor wasn’t too concerned. He believes it’s just his soft tissue, my baby didn’t express any discomfort when he was feeling around his foot & putting pressure on it.