Any balance related problem in bike is acceptable and a car hitting from behind is a fault.
Your case - you almost touched not hitting.
and the bikers were 3 in number. Imo
, you should not have paid the 200 compensation , did the biker asked for the money? why the hell does he pay the insurance then?
You didnt have any intention to run away since your dad have got down.
errors do happen and you misjudged the PC saying you to move on.