What will happen after shoplifting an item under 4$ dollars? Will it be on my record? Need to know.

I'm 19 and i was caught shoplifting an item that was 2$ dollars and couple cents at Walmart . I opened the purchase(feminine needs) and took only half of it and left the rest in the store. I was told to come back right when I got outside the store I was taken to the back room and they told me to take out the unpaid purchase. I gave it back. They put my info from my drivers license and social security number in their computer. No papers were signed. And no police were called or present. I was asked why I did it and where do I get my mail? And they told me I could shop at that Walmart still and others. They said if i did it again I will be prosecuted. It was my first offense. I was let go. I should have known better because I never stole and i am taking it as a lesson learned.