Car Battery Died; Head lights?

Okay so 12 in the morning i went for a drive. Parked my car (badly) on the side of the road and went for a walk in the woods. I guess i left my headlights one because I came back and the battery was dead and no lights would turn on. I tried to start it again after a few minutes with no luck so I hiked back home. Do I have to jumpstart it or will the battery be fine after a couple of hours? It's 3:30 now and its only half a mile away. Anyway I can get it home without jumpstarting or is it a must?