Am I a horrible parent

I just got done feeding my baby and I went to go start him a bath because he needed one I was in the kitchen getting his water ready than I here something hit the floor then crying so I ran and pick him up he seems okay just scared him because he’s acting normal and stopped crying after I held him for a few minutes has anyone else done this also has your SO came in and tried taking over everything you were doing because he got hurt while you had him?