The driver of the erring vehicle has been arrested for rash and negligent driving.
According to police, the offending vehicle was a Tata Sumo, which belonged to Haryana Government. When the incident took place, it was being driven by Sohanlal (40), a resident of Pinjore Haryana.
Sohanlal was taking the Chief Accounts Officer of Haryana Government for a meeting in Gurgaon on Delhi's outskirts.
"The incident took place at 12:06 PM on Parade Road in Delhi Cantt area in South West Delhi. The Tata Sumo vehicle hit Bhagwat's cavalcade when he was going to the airport. No one was injured in the incident.
"The Tata Sumo was later flagged down and taken to police post Dhaula Kuan where Sohanlal was interrogated. He has been arrested for rash and negligent driving," said Deputy Commissioner of Police (South West) Suman Goyal.
The Chief Accounts Officer was allowed to go by the police after brief questioning.
Police said the Tata Sumo had hit an escort vehicle which in turn collided with the RSS chief's car.
The RSS chief left in his private vehicle to the airport from the accident spot and took his flight for Gorakhpur.
RSS spokesperson Ram Madhav later tweeted, "Bhagwatji is perfectly ok and left on his tour."
"Due to d impact of d crash d security vehicle was pushed forward n slowly pushed Bhagwatji's vehicle. Nothing happened to Mohanji (sic)," he said in another tweet.
The incident took place a day after BJP leader and Union Minister Gopinath Munde died in a car accident on his way to the airport here.