Splashing by accident

Today I was driving , didn’t see the puddle but once noticed drove to far right under 20mph but couldn’t slow down further as puddle wasn’t noticeable from far and splashed a family walking by. It was an honest mistake couldn’t have gone further left as there were cars, I felt extremely bad decided to turn around but couldn’t see them anywhere there were cars behind me as well. I feel so bad that I could apologised to them. I know it was not intentional , I have my own hound family I know must be upsetting. Not sure what to do? I really feel bad that I could apologise to them or check on them. Should I be worried if they report me?
I have never had any issues or even tickets for driving , it was a complete accident.
Need advice.
Thanks,
S

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