A few weeks ago, whilst reversing out of a parking space at supermarket, my wheel slowly made light contact with the wheel of the car adjacent to me. There was no damage and a woman, who may have been the owner of the car, saw this and she said nothing when I spoke to her to acknowledge the contact at the time. Afterwards, I drove off and thought nothing of it.

However, I have now received a letter from my insurer, saying they have received a claim regarding to an incident at this supermarket. Obviously, there was no damage to claim for, so I do not want a fault claim on my driving records. What is my best approach to the situation?