If a police officer takes a ticket back, am I still held responsible for the ticket?

I was involved in an accident a few days ago. A police officer then gave me a ticket for driving too close to the vehicle. Me and the guy involved in the accident decided to work things among ourselves and told the police officer we did not want a police report so our insurcence would not get involved. The officer then told me to give him back the ticket and rolled it into a ball and threw it on the floor in his car. A couple days later, I recieve a letter from a law firm office to fight my ticket that the officer took back from me. Am i still held responsible for this?