Palmer Reifler & ociates PA will tthey prosecute me?

I was caught shoplifting at claires. They called the cop and he said i was arrested. then i left home with my perents. I recieved a letter saying I had to pay $250 by the firm stated above. I paid it the fee. then i recieved the AFTERTHOUGHTS of the firm. they letter stated that i was released of all statutory civil penalties but the release does not apply for restitution or other matters they may have against me. I recieved a letter from the court they want me to go or a warrant will be issued for me..what happens now? I am 18 years old, i have worked with the office of congressman cardoza i will be attending sac state in the fall.. will this help me in front of the judge?