My baby fell off the bed 😭

So my lil one woke up to feed, and we co sleep, he’s 5 months old. I fell asleep while he was eating, and when he was finished he must’ve rolled over and fell off because I woke up to a thud on the ground 😭. He only cried for a few seconds, after we picked him up he was fine. He seems normal and fine today, should I worry?? I feel like a horrible mom 😩