In an Accident on Saturday (10/31) and my Insurance Has Lapsed - what to Do ?

I bumped into a car by mistake as I was pulling out of a garage and the other driver was a little fast - I hit his door and got a dent on it - He called the cops and we waited as I couldn't find my insurance copy - I spoke to him about paying for the damages as I didn't want to get my premium increased - gave him $200 and he took my phone number and copy of DL - this all happened on Saturday night - The cops did not show up and we did leave as we agreed upon me paying.
I checked after going home that I no longer have insurance - I did not tell the other person this - On Monday we went to the

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