If the person is a d**k yeah. That's considered a hit and run. However, if they see that there's no damage, they can brush it off. If they really wanted to, if they track you down, you'll be in big trouble for doing a hit and run. Don't give people that benefit.
I once hit a car that was parked. There was no damage; however, I left a note. That f***er reported it as a hit and run, did more damage to his own car, and expected me to pay for it.
What you should've done, or next time what you should do, is stop. Don't apologize and say it's your fault, "That's what insurance tells you to say. They say never to claim fault." Inform him that there are no damages. Take pictures to ENSURE that there are no damages. And if he wants to report it then he can. If he's a nice person and wants to brush it off then he can. If he wants your information you're supposed to exchange information.