1999 Ford Escort How Bad is it?

I was driving in the drive gear and my friend tried putting the car in neutral for a joke. Unfortunately he went to far and my car was put into reverse. I quickly changed it back and my car kind of coasted to the sidewalk. I turned it off and let it cool down. I smelt the transmission fluid, and nothing smelt burnt. After about ten minutes, I turned it back on and no lights prompted me for engine service, so I drove home with no further problems. I just want to know what to do and if my car is messed up in any way now.