Is my kitten going to be okay?

I my kitten is 2 weeks 4 days ( 18 days old ) he still feeds off of his mommy, but I was joking around a whilst he was sleeping I put some vanilla yoghurt in his month lol only a little finger tip and he loved it he kept licking his lips and then started to clean his self could this be dangerous because its the first bit of food he ate that isnt from his mom!? I love cat kitties I have 6 and im keeping them all so I hope he will be okay .