Is my baby gonna be okay?

She's 6 weeks and can I'd say 75% hold her head up by herself. But just now she was making noises, movements, and swallowing sounds (normal?) in her sleep so I picked her up. I was trying to hold her upright in case she was spitting up but I wasn't quick enough to support her head + she was still sleeping. So it fell to the side. I feel so guilty right now. Did I twist her neck or something? I feel sooo bad. She didn't cry and is back to sleep now. But she occasionally moves around swallowing and looks like she's having a bad dream or something. Is she fine?