"When you've got a car coming down, on your side of the road, you do fear the worst.
"I thought that was the end of it.
"Joseph was driving, and he swerved, which was very fortunate for us. Because if it was front on it might have gone over the top of us."
The truck driver is also believed to have escaped injury.
Lester said he called his wife to tell her about what had happened, but admitted he "played it down".
"So she'll probably be a bit shaken to see the photos, I think."
The police attended, and towed the Mayor's car away.
Lester also posted about the incident on his Facebook page.
"A truck coming in the opposite direction lost control, crossed the centre line, and ran into the car we were driving," Lester said.
"My Chief of Staff Joseph Romanos was driving and bore the brunt of the impact.
"We're both OK, but feeling a bit ginger."
Lester added that it was "probably time for a beer".
Police have not ruled out the possibility of charges being laid.
