Is it okay if the head of the tick gets left in your skin after you try to take it out?

OK. It will come out in a few days. If you take Doxycycline or Minocycline within 1 or 2 days - a single dose of 200mg- you will not get lyme disease.
Head of tick. Best to see your doctor about removing the head of the tick to prevent any infection and to treat you if you get sick later on.