Most cell phones allow you to program 911 by holding down a button, look into that. And because you went to your friend's house unfortunately you may have put her at risk. We had a thief here who followed people on rides to case the house. So best your friend knows about the situation. I would have called 911 and given as much information as I could. Even if I could only say "he is in a white toyota". Of course for some reason I am freakishly good at picking model and approximate year of cars but still practing even a partial plate.

Tell your husband to not badger you too much about how you should have handled it, that is why they say hindsight is 20-20. Learn from the incident and warm thoughts heading your way!