From experience, I'd recommend notifying your insurer in case things get expensive. (You probably need to do so anyway, on the 'good faith' principle.) I had a similar bump last year: reversing at much less than walking pace in a small car park when a taxi pulled in behind me. My fault, I should still have missed it, but there was a light touch that pushed in the corner of his bumper (didn't make a mark on mine).
I notified my insurer and thought no more about it. A few months later I called just to see how it had all panned out, expecting a cost around perhaps £1000 maximum once a day's lost earnings were included. It turned out that they had paid out more than £4000, as the driver had managed to get a doctor to certify that he had a whiplash injury as the result of this 1 mph collision!
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