I backed into a car a couple weeks ago and left a small dent but never reported it, can I get in trouble for it?

So a couple weeks ago, I backed out of my driveway and slowly reversed into a car parked on the grass of the neighbor opposite me, leaving a small dent. Because no one was out at the time, it was night, and it was only a small bump, I was told not to worry about it by my parents and I just went back inside without filing insurance or letting the cops know. THe next day the car had left and I haven't seen it since, so i assume it was a guest of my neighbor's. Today I had a bit of a fender bender (completely not my fault this time), and me talking to the insurance companies reminded me of this.

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My question is, can I get into trouble for this, with either the law or my insurance? What's the best thing that I can do here?

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I live in Florida.