That exposure, alone, is not concerning. Lead poisoning is usually from exposure over time - not a single incident like the one you described.
However, lead-based paint that is cracking, chipping, or peeling is definitely a long-term concern. https://www.epa.gov/lead/protect-your-family-exposures-lead
You should check whether your home really has lead-based paint - it may have been removed by previous owners. You can buy a kit to test at your local hardware store, or hire a professional inspector to be absolutely certain.