Sex position during pregnancy hurt the baby?

Hi I’m 26w2d and this is my first pregnancy. My husband and I just had sex, and we started off with me on my side but then in the heat of the moment I had rolled onto my belly with him on top and he had a little of his weight on me and then when we were finished I had slight pain in my lower belly for a few minutes but now the pain is gone and I felt baby kicking. I’m really concerned I was probably squishing my baby/hurting the baby. Can anyone offer advice? I feel like an idiot but was caught in the moment!! Help please!