Although you might not have to file a claim with your insurance company, you will probably have to report the accident to your insurance company. Most insurance companies outlined in their policies that all accidents need to be reported - regardless if a claim isn't filed. I would contact your insurance company and speak to claim's representative and let them know you believe you were the not-at-fault driver. If you are found not at fault, your rates will not be impacted by much but will still show up on your driving history for up to three years. If you are found at fault, your rates will be impacted for up to five years. Here is more information on what to expect when filing a claim. Good luck and if you have any other questions, don't hesitate to ask.