If the police were called to the scene they should have made a report. Call your insurance company and tell them what happened. Let your insurance company investigate the crash and deal with the other insurance company.
It is always a good idea to get checked out after a car crash, even though you are not currently hurting. Who knows what my happen over the next several days. Also, by going to the doctor you have now documented your crash and how you feel. Make sure to tell your doctor everything that hurts/aches, etc.. You know your body the best, so do not leave anything out.
I have had many clients who just talk about what hurts them the most, while leaving out the minor aches/pains. It usually turns...
Not enough information given to even remotely provide an answer. Given your facts you really should contact a local personal injury attorney because you will end up with a better settlement in the end then if you try and go it alone.