Go through these in order and stop at the first one that applies. If you are reading this for someone else, answer for them.
Call emergency services now if the person:
A minor taste of a standard lip balm without symptoms can often be managed with poison-centre advice rather than an emergency visit.
And for anyone, someone who:
Contact a poison centre promptly if a child or adult swallowed more than a small taste, the amount is unknown, the product contains camphor or other medicinal ingredients, or the label cannot be identified.
Do not wait for symptoms before calling about a potentially significant camphor exposure.
Seek urgent medical assessment for repeated vomiting, worsening abdominal pain, shaking, unusual behaviour, marked drowsiness, or ongoing eye pain after rinsing.
Routine follow-up may be appropriate if mild stomach symptoms do not settle as expected or irritation continues after the immediate exposure.
The article also says
Place someone having a seizure on their side if possible, move nearby hard objects away, and do not put anything in their mouth.
Every sign above is quoted from the sofidex article on Lip moisturizer poisoning. If you are not sure, err upward — it is always reasonable to be checked.