Car accident problem?

[Navigator]

So i was parked in the parking lot at big 5 where all of a sudden a person backing out of the lot side hits me. Well he then took off not knowing that i was inside the car. Well i cranked my car and started to follow him as soon as he found out that i was following him trying to get his license number, he quickly returned back to the parking lot at big 5. Well i called 911 telling them that there was a man who just hit and run. The police asked me if they should come but i said since he returned back i said its okay. Well we traded insurance and i got his driver licence and his car licence number. Okay 2 days iv been calling his insurance company and they are denying that they caused the incident. There insurace company is saying i hit them and its my fault! What should i do there insurance company is denying and dosent want to pay the accident cost. Since this man hit the side of my back left door its badly damaged. I got an estimate and it came out to be around 3,000 dollars. What should i do. This man is trying to run away by saying that i hit him. There insurance dosent want to pay the amount