Tattooing a minor

Has anyone here ever gotten sued by a minor's family because they didnt check the id? I apprentice at a shop and tattooed someone who came in and told me he forgot his id, he looked old enough so I said i would do it as long as he brought it in-well his parents came in instead and now the shop owner is super pissed but took responisbility for my mistake. I am worried they are going to get sued, they are really super nice people and i would hate for anything to happen. The health dept was called too-but the shop is totally legit cept my screw up. i feel terrible- i looked online but couldnt find anything so hoping someone could tell me if they ever made a mistake like this. i just dont want the shop to be sued.