Would I have to go to jail???

[dsv]

I was involved in a not-at-fault accident 4 years ago. My insurance had just expired. I was given a summons for court. After going to court for several months (lawyer was awful) I was put on probation for not having car insurance and operating a vehicle without drivers license(I've had a license for 11 years!!). The court wanted me to pay the young kid who hit me $3k, within 10 months, which was supposedly the cost of towing his car back to NY from CT (BS).
I couldn't afford to pay it plus afford to pay rent and everything else. So I have violated probation. I have forgotten about this, but I want to do what is right and turn myself in. I can't afford expensive lawyer fees at this time and don't think I qualify for free legal assistance. I have been screwed with this entire case from the start. What steps should I take to make right with the court system? I come from a good,god fearing family and have never been in legal trouble in my life. Would I have to go to jail?