Accidents that occur on private property do not require a police report in order to file a claim. Your familiarity with the other driver does not impact your ability to file a claim, however the fact that he is uninsured
means that you will have to pay your deductible for the repairs. It should be a fairly straightforward process. You do have the option of paying for the repairs yourself or working out something with the other driver to pay for the damage if you want to avoid a claim. The important thing to keep in mind is that, if you do decide to file a claim, your vehicle should be covered if your policy includes collision
or uninsured motorist property damage
coverage (UMPD is required in New Jersey
so you should have it on your policy).