Driveway Pavers Did Our Driveway Instead Of Neighbors, Trying To Charge Us A Bill. (location: Ct)

Hello!! First time poster. Location: CT
Pretty straightforward situation. My neighbor paid to get his driveway repaved but when I got home, my driveway was paved instead of his. We didn’t think anything of it, the pavers came back and did his driveway. No one from the paving company ever approached us about the situation so we just casually ignored it and thought we got a free driveway repaved. About a week, few days later, we got a bill from the company. We never ordered it, never signed anything, never even knew who they were until we came home to a paved driveway and my neighbor being super pissed.
I’m in the clear right? They don’t have any quotes, visits or anything at all from us because obviously, we never reached out to them to have the work done. Can we just let it go? We’re afraid if we reach out, they’ll just try to exploit the situation further. Should I get a lawyer?
Thanks!!
Edit: I see the post is locked, hopefully I didn’t do anything wrong to cause that. Thank you to everyone for your input. I’m going to document it, use photos from Zillow showing original, and reach out to a lawyer since I think I could be under some code-permit problems with my town since I obviously didn’t formally go through the process of getting a new driveway, I want to make sure the town doesn’t hit me with some problems.
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