As someone above posted, everyone makes mistakes. It's what you do to correct your mistakes that define you. You did good.
This reminded me of an episode in New York (Manhattan, to be specific). I was crossing the street on foot (I had the light) and a cabbie tried to take a right when another lady and I were almost at his fender. I stopped and swore at him liberally, and then proceeded to cross the rest of the street. The mild looking lady who was walking beside me stopped me on the pavement and said thank you!