It's okay, don't panic :) As long as the little guy can breathe it's in no immediate danger of dying. Give him a little time and he'll likely hatch on his own. If he's not out by the 24 hour mark, then you might want to think about helping.
For now leave it alone. They have a lot of stuff they need to absorb before they can hatch. I'd say wait 24 hours from the time of pip before you try to assist the hatch or you can do more harm than good. Have you read the assisted hatching article? It may be helpful for you if you do end up...