Regarding the first complaint above...why are they denying responsibility? You did not explain. Something doesn't sound right.
Regarding the second comment...is it possible that the parents had the daughter excluded on the policy? You can have a child excluded from your policy if, for example, they are away at college without a car. Many parents do this to save money. If this was the case and the daughter came home from college...and she was still excluded (parents didn't inform insurance company), then Shelter Insurance would NOT be responsible. If this was the case, then you would have no option but to go after the parents.