I caused a car accident over 10 yrs ago that didn't cause any damage to the person's car; however, my license was suspended by that driver's atty.

In 2012, I bumped a driver's car in front of me. There was no visible damage to either car but that driver called police and a report was done. A few years later, that driver filed a claim and her lawyer had my license suspended. The lawyer called me and said that my license would be suspended until I pay $5,000 in full (no payment arrangements), which I did not and still don't have. What can I do to get my license back?