There is some truly dangerous advice on this thread. Please go to the EPA website and learn about asbestos, how it can affect the human body (asbestiosis/cancer), and how to properly deal with it (hire a professional asbestos company to take a sample, and to properly clean if the sample is positive).
YOU CANNOT just wipe it up with a soapy cloth, or vacuum it with a conventional domestic vacuum, even one that is marked "HEPA" (like some that are marketed to consumers by popular brands like Shark, or Dyson). Even though some of these consumer vacs may indeed contain a HEPA filter that could theoretically capture an asbestos particle, should an asbestos particle encounter it, these machines are extremely leaky at the seals, which make them about as useful for filtering a life-threatening substance like asbestos as a submarine with a screen door is for filtering out seawater. There are very specific criteria that true HEPA vac's have to meet in order to be used for asbestos vacuuming. I encourage you to not cut corners, even if you're willing to risk your own health, because you're putting the health of your family, neighbors, and future occupants of your house at risk.
Furthermore, consider how much you'd spend if you had a leaky pipe in your house and you needed to hire a plumber. Asbestos is a far graver danger than a leaky pipe, and for a tiny situation like the one described by the original poster, hiring a professional to take care of this will likely cost about as much as a plumber coming to replace a leaky pipe and all the surrounding soggy drywall: they'll assess, they'll create a containment if needed, and they'll vac up all the surfaces.
A small investment in the big picture of life.