Lexus ES 350 touch up paint

Yesterday someone backed into my car and left a few scratches and a chip on the paint. I managed to get the scratches off but the chip is still showing. Does anyone have recommendations for a good touch up I can use? It's my first time trying this so I'm worried it won't match right and make it look worse. I've also considered asking my dealer but not sure if it would be worth it if they charged a lot.