Have put diesel in a gasoline vehicle so woryied?

yes my boss is now making me drive his SUV around for use of giving customers rides home and whutknot, driving to auto shops to pick up parts, ect, because this is the shop truck at where i just started, we are closed today he also said drive it home my boy so you don't have to walk. so anyweys i went to fill it up with the gas and thought it was diesel cause its a big truck and i never been around this stuff before, so put the desel in there instead of gas, it made it back home (2 blocks) but was lurching and almost dying by the end and because of this i smashed my neybors bumper up with it as it lurched up on that gumps. now what can i do? can i get that desel out somehow? have already tried opening the tank and sticking a hose in and letting the desel come out but my neybor said he ware gonna call the cops for letting desel into the street. and his children play out there so he cant let the desel get on them, also its in the engine by now i will need to get that out by tomorrow so i can drive it back to work. i cant get fired for this small insident that is not my fault, so any car man please tell me how to get the desel out of my vehicle, this is not my fault can i sue the gastation for not being self service? also how do i use netflix and can i get naked movies on netflix?