You did not mention the other party, if he/she has already reported the accident to his/her insurance company, you'd better call yours.
if the damage is not over $1000, you don't have to call police, once they're involved, i think you'll have to deal with your insurance company, try your best to argue that you're 0% at fault.
another thing I learned is: never admit "at fault" on the spot even you think you are.
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