Tear on labia minora?

Okay so this is a wee bit embarrassing but today I was with my boyfriend I had blue jeans on and he began rubbing me from the outside it was quite vigorous however I didn't feel pain as he was doing it and he usually knows what's too hard. However when I got home I went to pee and it was burning badly and was painful. so I was thinking well...this isn't right (it felt like I had rough sex) so I grabbed a mirror and looked and there was just a little blood and as I found where it was coming from I seen what looked like a cut or tear on my labia miniora I would guess about 1/4 inch long. Super painful but not much blood. I was taken aback I didn't know what it was whenever I have had rough sex I would bleed a little and have the same pain and stinging when I peed but I never looked because I mean rough sex is kinda obvious its gonna hurt but this wasn't sex and it hurt as though it was. Anyway I cleaned it very gently and applied some baby rash cream down there and went to work. When I got home I checked my panty liner it had almost no blood on it I peed again and it didn't burn I took a shower and cleaned it up and got out and looked and it didn't have any blood no redness soreness was reduced as well the cut was still there though. I'm just curious if this has happened to anyone and should I be worried? its got me a little scared I won't lie lol and any advice for how to heal it?