How do I get my money without getting someone in trouble with the law?

Per another question, a guy rear ended me the other day and he does not have insurance.

He is very nice and has contacted me many times to figure out how he can pay me for the damages.

I feel really bad about potentially getting him in trouble with the law, since it is mandatory to have at least liability insurance in CA. I have been in a position where I could not afford insurance and I hate to get anyone involved with the law (minus the violent, predators and defrauders).

Can anyone suggest how I can handle this w/o getting this guy in trouble? Advice? Ways to skirt the law?

Please do not try to convince me to “throw the book at him”. I do not want to do that. Plus, if he tries to get away without paying me I work for the best collection attorneys in the state.