Injury at my tibia. Something serious?

Hi there, this was an incident that just took place about 11 hours ago, I was on a motorcycle. My friend was speeding up. He hit against the motorcyclist in front of me although he braked. My left tibia hit against the exhaust pipe of the opposite motorcycle. I hurt my tibia. There was a small scar with very light tear, there was very small amount of blood,I was using jeans. Blood was only found insides of the jeans. Not bleeding anymore. It just hurt for little while then gone which was why I didn't see a GP. Now it's at night, there is slight swell locally at the place that it hit. Appearance look normal. Not red, no change in temperature, just pain when touch, range of motion is fine, in fact I just came back from working out at the gym. Just sometimes when I stand and walk, I do fell the pain at that place where it got hit. Is this something serious? Could this lead to osteomyelitis and also should I consume any medications or just let it heal on its own. Thank you very much.