Hi, My 5 Month Old Son Fell Of The Bed

Hi, my 5 month old son fell of the bed and hit tile floor he has a small soft bump right above the left side of his forehead. I put an ice pack on it and the swelling went down should I still be concern to take him to the doctor? He has no symptoms he's his normal self eats, poops and sleeps well. No vomiting, fever, and bleeding.