I hit a car in front of me at approximately 5mph. but the car never pulled over to exchange information. The hit was minor. There isn’t any significant damage on my car just a scratch or two and from what I could tell there wasn’t any damage to the car in front of me. I wrote down their license plate number. I’m 18 and it’s my parents’ car but I do have insurance. So what should I do?

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It’s no big deal. things like this happen all the time. just forget about it if there is no significant damage. you can use their license plate to track them down file a claim or something, but i would not advise you to do so since it is your fault and would raise the insurance premium. it’s not worth going through.
If the car did not want to pull over to exchange information, then I would say leave it alone. Most people will not do anything if there is no damage. Just keep their license plate just in case you get something in the future from them about the accident.
you are at fault. what do your parents want you to do?