I wouldn't ride (or drive) off from an accident where there was anything substantial in property damage - at that point there's nothing preventing the driver from calling the cops, claiming that you did a hit and run, and by the time you get to tell your side of the story everybody else in the world is convinced that you were the culprit and won't believe anything you say. Get a police report, or at a minimum a signed statement from the driver acknowledging that he was at fault in the accident.

OP, sounds like an awesome outcome! I once tapped the rear bumper of a car with my bike tire, but the driver didn't follow up by putting the car in reverse.