Pick the child up, give them/offer them a cuddle and then they will let go when they are ready. As they get older they may say “it’s okay, I’m fine” but that is their choice and there isn’t a expectation to be “fine”, to not make a fuss, to cover their feelings, to cope without comfort.
My DM was of the “come on, you’ll be fine” school, always. I hate her when I think of that, and particularly remember falling once at the bus stop and her “come on, up you get” attitude.
She is generally someone who minimises other people’s feelings and can be quite cold though, and believes in “not pandering” so it’s just reflective of her parenting approach and personality in general.
Children need a trusted adult to co-regulate them when distressed, until they learn to do it themselves.
A parent being available and comforting and supportive will actually help a child to develop resilience, it doesn’t make a “soft” child (and so what if it did?! Some people will always be softer than others and it isn’t a weakness to show distress and to want and accept support when offered)
My DC are very confident and happy children, being a responsive and loving mother has done them no harm at all!