Would it be worthwhile to get an attorney or to settle without one, considering my injuries weren't that serious?

Absolutely I believe it is well worth getting an attorney. In this situation, though you also hit the car in front of you (which may slightly lessen the amount you may receive in damages), you did suffer damage to your vehicle and to yourself.  Further, you should get your children checked out anyway.  Did they cry, freak out or scream?  If so, that is damage to them (emotional distress) that may be compensable separate and apart from your damages.  Further, it helps that the driver did it again --clearly that person should not be on the road.

Two accidents seconds or minutes apart from each other from the same offender will guarantee that you will collect something.  But hurry, because if the insurance limit is low, and the other people behind you who caused the chain reaction accident have low limits too, then you may need to get in the front of the line and file your suit.

Is it better to get an attorney? Yes and I will tell you why.  Oftentimes, accident attorney who specialize in this have existing relationships with insurance companies, can get you better deals, have your attorneys fees paid for by the offenders' insurance company/companies, negotiate down any medical costs, and get you more bang for your legal buck. Once you settle, you settle and will usually be required to sign a release saying you won't/can't sue again as related to that accident.