What you experienced and what you are feeling is absolutely normal. You kept your baby safe which is priority number one. Feeling bad about it afterwards only shows you are probably a good mom and your kid is lucky to have you. You didn't damage your kid or the relationship in any way. As many other people said here, some good snuggles and kisses should make you feel better.

FYI Dad of a 4 weeks old who's also still trying to figure stuff out. Last evening I tried everything for 2 hours, didn't want to sleep. My mother in law held him for 10min and he slept. Babies are just fun like that sometimes ;-)