Was rear-ended with me and baby both buckled up in rear seat

I am in a lot of pain, went to emergency and PCP and on pain medications, muscle relaxers. I am unable to care for my baby and am missing work and had to call a maid to help clean up because moving causes pain. Other driver and I share same auto insurance company. Family suggested I consult a lawyer. One lawyer told me to contact him after a month if I still have issues. Another said I should retain them immediately so I can be protected and get the medical help I need and not to speak to the other person's rep calling constantly about my side of the story. Police didn't file a report despite requesting twice. Auto body damage repairs estimate is $700. My PCP gave me a referral for physical therapy and recommended massage after pain subsides. Question is which lawyer should I listen to and what should be my next steps. Never been in a situation like this. My infant is very irritable and is not sleeping well. Pediatrician looked but said wait and watch, most likely ok.