Oil change

I think the issue is that I did not give my car an oil change when it was due and due to work circumstances I had to drive a long distance without warning. When I was close to my destination there was a strange noise and smell, and the oil light came on. I soon after stopped the engine.

I am wondering if I have done permanent damage? And if I were to drive it to a mechanic to get an oil change is it too risky/ will do more damage?
Or is there a better option ie me joining nrma and possibly they can come out to my vehicle to service it? Or perhaps they would not do that, I am unsure.

Thank you for your help around my stupidity!