I second what dindin said. Always best to get insurance info from them. Holly and I were in the same sort of accident in April of '07, hit from behind, shoved into vehicle in front of me, and though we weren't sore right away, the next day we were really feeling it. I had exchanged insurance info with both other drivers, we made a police report, and went to the ER. If we hadn't had the info we would have footed the bill (or our insurance) for all of it.
Just sayin'... better safe than sorry.
Glad you're both okay!