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You did the exact right thing, especially with your kids with you. You are under no legal obligation to help the police as a general rule. Your moral obligations are a separate, personal issue. As a general rule, I will stop to help an officer but I would never do it with my kids anywehere nearby and I do have a little more training than you (I think).

For all of those who think you are never under any obligation to assist the officer, I will point out that there is still a law requiring you to assist if an officer requests it. Article 2.14 of the Code of Criminal Procedure still allows for any peace officer to call a sufficient number of citizens to assist him in his legal duties and places a legal obligation on you to obey. Article 2.15 says the officer shall report anyone refusing to assist to the DA for prosecution, but there is never a defintiion of the grade of offense or punishment.