I was driving home and a car hit me.The driver had no license. I found out that my insurance had lapsed. The car the driver was driving was insured and the insured person was in the car that hit me

If you were in no part negligible and the fault has been determined to be the other drivers fault, then your insurance company does not even belong in the discussion.

If the owner of the other car chose to let an unlicensed driver, that is between the owner and the police.

You file a claim against the other driver's insurance policy. If they were at fault, they will pay. They will, of course, try to switch fault to you or make you share fault. In that case, you may find yourself being partially responsible for the repairs.

Without knowing the details of the accident it's hard to give any more advice than you've already received. I've heard "the car hit me" when people were making illegal left turns so the details are important.

Where were you and what were you doing and the same regarding "him"?