The Secret Between Us by Barbara Delinsky
Deborah Monroe is a small town New England doctor in a family practice with her father. Busy juggling life as a single mother to teenage daughter Grace and younger visually impaired son Dylan, running the family practice with her ornery and grieving father and his conflict with her younger sister, is tough enough. Life gets even more complicated when Deborah and Grace are heading home on a rainy stormy night. The all of a sudden hit a man in the road who turns out to be Grace's high school history teacher. This is a story about family secrets and their consequences as well as the bond between mother and child.
I have read several books by Delinsky and also enjoy the stories she tells.