I rear ended someone and there was only damage to my vehicle. It was a busy street and full of traffic so I suggested we drive and pull over at a store to not block traffic. I knew I was at fault so I wanted to exchange info/call cops whatever necessary but the guy said it wasn't necessary so I left it at that. Naive I know. But I was crying and I think the person saw that and took pity. I didn't want to worry my family so I lied and said someone backed into me while parked and didnt see. Should I tell the insurance the truth or tell them I was rear ended? I'm just worried the person will come for me later but he didnt take a pic of my license plate and no cops have called or my insurance....