I can't say for sure that it is totally impossible but it is highly highly unlikely.
Having said that, all your ligaments and muscles and stuff are not the same when you are pregnant, so to avoid hurting yourself try not to lift anything you can't easily manage in future. If the pain goes away, I would be almost certain there is nothing wrong.
The embryo is well protected behind your pelvis and anyway, most miscarriages are caused by chromosomal defects, not something the woman did or didn't do. Other causes are blood disorders and similar conditions that are outside of your control.
Unless you are smoking, heavy drinking, or taking drugs, you can neither cause nor prevent a miscarriage.
Women with toddlers manage to lift them when they are pregnant and if you do have another small child, you don't have much choice.
That said, take it easy and don't do heavy stuff like shifting furniture.