What kind of animal did you come in contact with?
Any mammal can get rabies. The most common wild reservoirs of rabies are raccoons, skunks, bats, foxes, and coyotes. Domestic mammals can also get rabies. Cats, cattle, and dogs are the most frequently reported rabid domestic animals in the United States.
You should seek medical evaluation for any animal bite. One important factor in deciding if you should have postexposure prophylaxis will be if the animal can be found and held for observation.