Hit & Run Incident, left scene before officer arrived

Both parties stopped, but Information wasn't exchange, there was very minimal damage, neither party was injured. Wasn't planning on going through insurance, so didn't think an incident report was needed. It was possibly caught on a traffic cam; that would show not at fault (but can't say for certain). Being the party that left the scene has caused concern about the Call B misdemeanor / fines. Would you recommend contacting the police and explain what happened or seeking legal aid first?