I have to lift things all the time. There is woman out there that carries there 20 or 30 lbs children around. It does not hurt them. If you are not on any restricts from doctor. Dont worry about it.
How far along are u and exactly how heavy was the basket? As long as you weren't straining your core, chances are you are fine. I wouldn't make a habit of it though. I worked in a nursing home lifting 200+ lb residents multiple times a day up until I was 5 months pregnant.