No it won't hurt to have a short sleep while wearing contact lenses in terms of causing your eyes pain or making them difficult to take out afterwards.
If you wear disposable soft lenses, they are perfectly fine to wear while taking a nap as they are very thin and allow your eyes to breathe efficiently. Even if they are non disposable (eg. soft contacts intended for 1 year or more use), most modern soft contacts are made of highly breathable materials so again won't do your eyes any harm.
If you have the type of 1-2 week disposable lenses like mine (Acuvue Advance Hydraclear), they are actually designed to be worn either as a 1 week extended wear lens (ie. you can wear them all day and night for 7 days if you wish and your eye doctor recommends it) OR as a 2 week lens where you take them out every night. So this type of lens is perfectly fine for a quick nap!
Disclaimer: This site is not intended as a substitute for evaluation or treatment from a trained and licensed eye care professional. Please be sure to have eyes properly tested before wearing any
contact lenses whether or not a prescription is required for vision correction