I just scratched another car, and I didn't get their info, I don't want to go

to the insurance. What do I do? The guy has my info but I forgot to get his info. A small piece of paint chipped on his rear bumper and he said its okay, "accidents happen," and he said that he would just go to his insurance company to get the car fixed. I told him that I'm a new driver, but honestly, I've never been in this situation before, and I now know that i should've gotten his number and just offered to pay a few hundred to repair his paint. Should I just go straight to my insurance company and tell them and then offer to pay out of my pocket? Will it raise the rate?
 
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