Welcome to the club! It looks like the lip of the bumper is bent so it's not popping back in. You should be able to take a thin plastic pry bar to straighten it up enough so you can push it back into place. You might have to pry against the paint so use a piece of cardboard to pry against. It's probably going to take two hands, one to pry the lip and one to push the bumper up and back. Secure the cardboard to the appropriate prying location using painters tape. This is the first/easiest thing I would personally try before pulling things apart. I'd also look under the truck thoroughly just to make sure there isn't any unseen damage. Thankfully it wasn't any worse.