@peytonsmom22, I truly believe you should wait til tomorrow and let the dr give you a demonstration. You don't want to hit the baby's vagal nerve and cause a whole lot of damage to your baby. I'd just keep rubbing his belly and moving his feet around and give him a foot massage too!
I was too !!! The pedi had to show me cuz I was so nervous !!!! We put a little lube (petrolium jelly) on the tip first then just stick the tip in... Our has a little indicator where it should go ! (Just the tip not much at all) The dr said wiggly it around gently and leave it in long enough to get a temp reading ... The baby didn't even notice it was in and he actually pushed it out and pooped !!