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You are probably just fine. He might have scraped the inside of your vagina or a bit of inner flesh tore and caused the bleeding. If the bleeding continues, then see your doctor, but a small spot of blood is okay.
There is no permanent damage to the inside of your vagina and it did not stretch enough to be concerned. Remember women give birth to babies and the vagina returns to a normal size even after it stretches enough to pop out a baby.
You might want to talk to an adult that you trust or your doctor about the anatomy of your body and what to expect as you experiment with sexual behavior.