The insurance company was taking money from my bank account without me knowing it.

I purchased a car on March 31, 2017. The dealership refused to release the vehicle without proof of insurance, so I call State Farm because they cover my previous car. I explained the situation and they gave me an unreasonable price and said that they'd only mark it down if I bought life insurance which I already have. I was running out of time and had no other choice then to accept this offer. Agent Christina Lentiny helped me with the paperwork. A month later I switched to Progressive and ended my connection with State Farm, but they continued to charge my banking account, taking a total of $447.16. I've never gave them neither information nor my authorisation to do so. I'd like to know whether I can press charges or not.