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She put hand over phone and said her daughter was calling police.
So the lady's daughter was calling the police while you were standing there with the lady who had submitted a lead request and who was voluntarily chatting with you? lol I'd welcome that call!
If you knock doors you are going to get the law called on you occasionally. Just keep your cool and explain why you were there. The few times it happened to me the officer usually ended up laughing. And don't forget to prospect the police while you have them in front of you. I mean, they are going to ask you what you're up to - tell them!