Insurance companies typically only pay for defense lawyers. If you were at fault in an accident or another driver was suing you, your insurance company would pay for your defense costs. If you’re not at fault in an accident, your insurance company is likely trying to negotiate with the other party for payment. If you feel that you aren’t able to negotiate a fair amount and want to file a suit, you would have to seek damages out of pocket..
Most lawyers will take a cut of the final settlement amount. If your insurance has paid for anything up front, they may also seek reimbursement costs for any injuries or damages they paid for as well.