Will running a car in the Acc position for to long make the battery die or just need to be recharged?

Automotive batteries are simply electrical storage devices, meaning that they store electrical energy so you don't have to crank the engine by hand to get it started.

Every time the engine starts, the charging system recharges the battery. Batteries can go through MANY charge/discharge cycles, but automotive batteries do not do well with DEEP DISCHARGE.

If the battery isn't too old it should take a charge quite well, you could even jump-start the engine (make sure you ALWAYS connect Red to positive) then drive the vehicle around for a while and let the alternator recharge the battery for you.

You PROBABLY haven't done any permanent damage unless the battery was already getting old and tired.