You definitely need to tell your insurance company exactly what happened. Depending on the specifics of the situation, some companies will not cover accidents caused by driving under the influence. You need to tell the insurance company exactly what happened or you can be looked at for making fraudulent statements. Ultimately, you need to contact the insurance companies ASAP and speak with the claims department. Good luck, and if you have any questions, don't hesitate to ask
For more information regarding car insurance after a DUI, see here.