I'm 24 weeks. Im over weight so I feel like we have to push through the fat to feel the baby. He is still moving around like normal, im just super sore. I stress about everything because we had a miscarriage 2 years ago.
How far along are you?
The baby is cushioned by quite a bit of padding (even if you're super thin), so unless he was pushing so hard he left bruises, I don't see where touching your belly would cause any harm. It is possible that the soreness you feel is from the baby moving. Sometimes I would swear that my insides were bruised from my dd wiggling, kicking, and punching!
Is the baby still moving like normal? I never had DH or myself push on my belly, we just laid our hands on my belly.
If you're concerned, it's best to phone your doctor and see what they say,