ran over concrete block
 

i have 2016 c 300, yesterday I ran over the concrete divider in the parking that was pretty high, I heard the scrapping noise pretty bad and screeching, I couldn't reverse it immediately but with help I got it out. I thought I did a lot of damage to the car, luckily I didn't notice any noise and I could drive normally.
This morning I checked the bottom and I saw some undercover plastic damage under passenger seat and it is bad, a part of the cover came off. Do you think it needs to be checked immediately even though its driving fine

More than likely you damaged the sound deadening material that covers the underside of the car. they are held on with clips. either go to dealer and have them check it out or jack car up and look for yourself.