I think I was confused by the end of the 1st sentence, considering by the 2nd sentence it was family A in the car instead of family B, like you said in the 1st sentence.
It kinda goes downhill from there.
First of all you weren't a 'child' you were an adult.
Secondly, you can't honestly expect society to forget what you did. Some things just can't be undone.
However, with that in mind you need to keep doing what you're doing. Keep your nose clean and prove you're different.