Man Is Threatening To Charge Me With Trespassing And Theft Of Services For Retrieving Items From My Car That Was Being Kept At His Towing Facility

my car is currently being kept in an open lot, no gate or anything, at a towing facility after an accident. The facility is listed as a 24 hour business. a few nights ago I entered the property to retrieve items from my car. yesterday the owner of the property called me, says he has me on camera and that if the insurance company does not contact him by tonight at 5 pm he will have me arrested and charged with trespassing and theft of services. This morning he texted me pictures of the footage and a vaguely threatening “in case you think i was kidding, the other man [my father] will also be charged”

frankly, he seems unreasonable and like an unstable nutcase, and i don’t believe these threats will stop even when the insurance company does call him, I believe this might lead to extortion attempts. I don’t know what to do. It’s also worth noting i’m only 20 and i think he wants to take advantage of that. I looked up theft of services and it seems that it would require that i had threatened him or lied to him, neither of which i did. I also live in Pennsylvania.