A disabled driver was seen to hit a parked car on a narrow road in Arncliffe before pausing and driving off, Skipton magistrates were told.
A climber out for the day at Arncliffe Crag watched as Paul Mountain, 64, drove his Volkswagen Transporter along Low Lane on August 2 last year and scrape the other car.
The climber watched as a passenger got out of the Transporter to look at the other car before getting back in and being driven off.
Mountain was traced after the witness took his vehicle registration and left a note on the damaged car, the court was told on Friday.
Mountain, of Huby Park, Huby, who admitted driving without due care and failing to report an accident, said he had needed to leave the scene urgently and had panicked.
He had not realised he could have reported the accident from home and was very sorry.
Magistrates fined him £65 and endorsed his licence with five penalty points for failing to report the accident and £50 for driving without due care. He was also ordered to pay costs of £85 and a victim surcharge of £20.