Worried

So a few days ago, I was involved in a very minor car incident, and my car got scratched. I made the dumb mistake of not contacting the police because the other driver seemed willing to settle this privately. However, he has redirected me to his parents, who have both ghosted me. I filed an insurance claim (but I swear to god I did not even finish it, and it somehow submitted. I distinctly remember clicking out of the claim when I had sections left, but I checked an hour later, and the claim had been submitted before I got the chance to speak with my dad).

I called my insurance to close the claim, but they say they are unable to because there is a liability dispute. They said that the investigation will close if the other party will not respond (which at this point, I'm sure they won't). I do not believe the incident was my fault at all. I had a friend in the car who is a witness who can also verify that I was not at fault, and when I explain the situation to my friends, they also tell me I had right of way and am not at fault. However, my dad is mad at me for filing a claim because he believes this will cost us more money. I am also worried about the off-chance that I am found liable. Any advice? I don't know anything about insurance, so I am not sure what to expect.