A car hit me in a parking lot and left?

I was downtown and walking to my car that was parked in a paid parking lot. As I approached my car I saw a dent in the right bumper. A bystander said they saw a White Yukon SUV hit it and then left after they realized it....they gave me the make/model/color of the car and the first three letters of the license plate. Is this something I could give the insurance company? What should I do?