Could we be feeling baby?

Not all the time it happen’s, but I’m 19 weeks tomorrow and tonight I put my hand on the lower half of my belly with a little bit of pressure and after a couple times I could feel a thump, then I got my boyfriend to do it and he could feel it too. I know sometimes you can feel your heartbeat but this wasn’t anything like that, it was almost like a thump against my fingers and I don’t know if we were feeling something else or it was actually the baby interacting!