You would not have done any harm to your baby, cord, or placenta. There are many pregnant bellies that have been squashed by bending, kids, husbands etc. The popping sensation was either a ligament or a muscle. The dark brown discharge was probably old blood and is not uncommon.
I had bleeding at various stages during my pregnancy with DS. Knowing what I now know, after my experience during that pregnancy, I would not be worried. Saying that, just take it as a warning to take it easy (hard with a toddler I would imagine but am sure you do your best). I would perhaps just mention this at your next appointment.
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