Generally if you are pulling into a parking space and another car is coming toward you headed straight, you have the duty to wait for that person to pass, as they have the right of way. Additionally it sounds like the motorcycle passed and then your friend turned and clipped the bike. That would more certainly be your friend's fault. But since the motorcycle left, it doesn't appear as though there is a problem. At best its an infraction.
This is general advice and does not establish an attorney-client relationship.
Since you put this in criminal you are asking criminal and not civil implications.
A reviewing prosecuting attorney will first only look at the case if police submit a report. Then they will look to see if you left the scene, drove recklessly, etc.
If you do get charged contact an attorney to represent you.
If he just drove away without any exchange of information - probably nothing is going to happen. If it turns out that he sustained injuries, he could possibly obtain your information through the parking garage cameras, make a report to the police, etc... In that case turn the matter over to your insurance.