Need help for police charge!!!

Hello friends,

I drove on highway at 2:30PM after bowling with friends,
A police car is driving behind me, I did not realize he is following me and want me to stop, I thought he was going to pass me, then I turn to right lane,
yield to him, he turn to rigth lane as well, I turn right lane again, he turn to right lane again, so I realize he wanted me to stop, then I pull over,
police sent me to jail and charged me that I did not stop right way. How serious is this? Should I hire a lawyer? any friends have idea? Police said he had follow me 5.5 miles, the true is around 2 miles.