Glad you are OK. I agree that it would be a good idea to see a Doctor just to be certain.
Older vehicles used to set the air bag off easily. The newer ones need a signal from both the point of impact (Front Bumper) and a another sensor that reads the forces on the vehicle (mounted under the vehicle somewhere)
Also, I've been told that once the airbags go off the vehicle shuts down and will not re-start. Cost's so much to fix it you usually have to total the vehicle. I can't believe you drove it home after the air bags went off. What year of and type Van was it?