Baby fell off bed

One of my worst fears just happened and my son fell off my bed😭. I literally turned around for a second and heard a thump, then immediate crying! We have hardwood floors and our bed is about 29 inches high (I measured while I was talking to the nurse). I feel like the worst mother in the world right now! I was able to console him after he cried for a full minute, and I was even able to make him smile when he saw himself in the mirror. We were getting ready for nap time so he was very tired before he fell, but after he stopped crying he fell asleep a little too easily so I’m taking him in to the doctor. The nurse said he didn’t seem to have any big red flags (no big bruises or vomiting), but I’m taking him in anyway. God I feel awful!😭😥😔