Sorry, but you always have to worry. She could deciide 18 months from now that she's had neck trouble since the accident and sue for injury.
BUT, don't tell anyone. No immediate significant damage or injury so no reporting is required. DO NOT contact your insurance company. It has no benefit, and they might mark your record.
Given that anything can happen in the future, sit down tonight and write down a description of the accident and what was said and done at the accident scene, how she seemed etc, etc. File it away for use if an action arises in the future. All you can do, but it can really help. Prior advice from my next door neighbour who happens to be a judge.