See if hair dryer will do the trick...
http://youtu.be/3_fnZxB2DO8
If it does not work, go to paintless dent removal senrvice or PDR. This is way cheaper than replacing the whole bumper cover if paint is not damaged. I had great experienced with PDR service result and only paid $125. I am a believer!
Do you have a pic of the dented bumper cover?
Here is a picture of my Honda Pilot with a big dent on the hood.
Before PDR.
Here is the picture after PDR. ( he just used a tool to masssage the back of the dent)
