Ali don't blame yourself, I find sometimes that some midwives forget that new mums don't know what they're doing. Its all a blur those first few hours.
Its never too late to put in a complaint. It doesn't have to be an official one if you don't want it be but you can find out who the patient rep is at the hospital and write him/ her a letter on it. You never know maybe others have had the same issue and they can start looking into it to improve for future mums to be.