Avoid putting baby on the bed henceforth. Babies are good at pushing pillows etc kept around them and can still roll off the bed.

If a baby experiences a fall and immediately starts crying that is a positive sign. If a baby goes quiet and still then immediately take the baby to the doc. Watch closely for a couple of hours for vomiting or dizziness. Also keep an eye on the appetite. Small bumps are ok and just compression and ice will take care of it.