9 month old fell off bed

My bed is maybe two foot high and he landed on carpet. There is a red mark on his forehead but he stopped crying as soon as I picked him up. He’s acting totally normal. Please don’t judge, I already feel shitty enough. I knew better than to leave him, but I figured since he was dead asleep I could lay him on it so I could go pee. Just want to make sure he’ll be fine or should I go to urgent care?