"I had a look and there was no mark on either car..."
If you're absolutely sure of this and if it was a very low-speed bump, you probably don't need to worry.
"Should i contact the police?" Up to you. Probably not necessary - unless someone saw what happened, or unless there is CCTV, either of which could mean that the owner of the other car could try to scam you by pretending there was actual damage as a result of the collision.
"Will i be prosecuted for leaving the scene of an accident?" You checked and found no damage - but see the previous paragraph. I doubt whether the police would be interested unless the owner of the other car started investigating.
However, you should take note: "I couldn't really judge how much room there was..." You must be able to judge things like this - otherwise don't park in tight spaces.
Edited by FP on 16/12/2013 at 20:34
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