Baby robin fell out of a tree

Hi I wanted to ask if anybody knew if it was okay to put a baby robin back into its nest. The family of robins where nesting in my ground yard tree and two baby’s fell out due to storms one unfortunately died but the alive one was still cheeping at me I had saw the parents before hand and didn’t know up until now. I did put the baby back and both parents were three watching me and chirping loud but didn’t attack me so uh. Will they remember me for touching there child and if they do will they attack me?