Scratched a car on a parking lot and left

Hi, I’m aware of how stupid and bad it was of me to do that but i slightly scratched a car on a parking lot and i left. i know that the people whose car i scratched know about it and got footage of a camera with my licence plate on it. i scratched it 3 days ago. i got the people’s phone number and I am going to send them a text message tomorrow my question is if i ended up involving my insurance in that, would they still cover the damage? or would it be voided since i basically left without leaving a note?