Light spotting?

Not sure if I should be concerned... I’m 33 weeks and I haven’t bled at all this entire pregnancy. I accidentally bumped into my stomach yesterday and later that day I had a few spots of dark brown blood in my underwear. Nothing when wiping. I haven’t had anything since and I feel baby’s movements. Should I call my doctor? This is my first time being pregnant so I don’t want to overreact!

Thanks!!!