Here's hoping the OP isn't having any transmission problems and their mind is at ease that nothing bad happened.

 

I once bumped the shifter while driving and knocked it into R while doing about 20 mph in my 2002 GS. The dashboard warning lights lit up like a Christmas tree. Some sort of warning message came on about it being inadvisable to shift into reverse while moving forward. (I didn't pause to read it in detail, but I got the gist).The transmission remained in Neutral, and it definitely did NOT go into Reverse.

I moved the shifter back into Drive and went on my way.