Help me. Some guy tried following me home. Did I do the right thing?

This is a really scary story so let's start at the beginning and I'll tell the whole truth. Me and my friend were driving back to his house since I just got off of work and this truck was going less than 25 mph the entire road and the speed limit is either 35 or 40 So we waited until a legal ping zone and ped the truck and turned into his neighborhood. This truck saw us and rode about 1 foot away from the back of our car so we turned to try and get away from this ******* maniac and we pulled around into a driveway that my friend knows. This driveway was pitch black and at this time I was scared for my life so I said let's get the hell out of the car and turn of the lights and hide behind my friend's friend's house. We were about to call the police and by this time my parents call yelling at me and my friend ripped the phone out of my hand and told my parents exactly what was going on, my parents didn't seem to believe him. At this very moment the guy ******* pulled around the neighborhood looking for us and we both saw his truck drive around. My friend is like "F this guy, I'm not going to let this **** happen. " and he stepped out onto the road I was like " Man, you know I got your back" and he said " Yea... I know" Then the maniac pulled in front of us and blocked off the road and got out of his truck with a large metallic object (barely noticable since it was very dark). My friend Immediately called his mom and her boyfriend and they drove past the crazy guy and the guy didn't budge. So we sat there talking to his mom and steve and I was starting to get pissed at this maniac in the truck. We told them the entire story again and then my dad calls and is like "just get home" and I respond by saying " I can't we're going to have my friend's parents follow me home and they'll make sure the truck doesn't follow... So I'll be alright dad". Instead of saying ok or something my dad tells me to get my *** home so I get in my car and start her up and start driving home with my friend in the car. My friend was still in the car because we were going to stop and let him out when I got home without the truck. My friend has my back and I love him for it, because I'll have his back too. I start going home and I see two cops and they don't stop me or flash or turn around or anything so I'm obviously not in the wrong otherwise they would have stopped me. I keep going and the ******* guy drives right past me and immediately does a U-turn behind my friend's parent's vehicle. My friend tells me to keep going so I do and I go past some lights and his parents barely get past the lights because they were turning yellow so the truck turned right and vanished. About 3 minutes later we see him following, but he turns off and obviously didn't notice us. We pull into a gas station and wait and talk. Holy ****! The guy drives up to the stop lights and drives right past. Whewww..... My dad calls again... and we talk and he says I'm coming and he drives up to the gas station like 10 minutes later. So now we have a convoy of 4 cars. My car, my friend's parents car, a scion who wanted to race and my dad. I drove home and we didn't see the truck and I drove home and we talked about it. So do you think I could be in trouble or do you think this guy should be? Thank you. Sorry it was long but I have to get his off my mind and I don't really care if any of you read it or not.