I think I felt my baby move?

Im 16 weeks and 5 days today. Last night, I was laying on my back and decided to place my hands on my lower abdomen area. On my left side, under my fingertips, I felt a light but still noticable two nudges. Like something inside me lightly elbowed me. Is that how it feels in the beginning when the baby moves? It wasn't gas. I wouldn't have felt it if my hands were elsewhere but because I had them there, I felt it. What do you ladies think? What did your first experience feel like?