Milk chocolate has very little caffeine. Generally only dark chocolate has any appreciable amount of caffeine.
Nhs guidelines suggest a 50g bar of milk choc would have approximately 25mg. The amount of actual chocolate in a Mars bar is small so caffeine will be slight. Won't bring you anywhere near the 200mg recommended daily limit. A Mars bar will have almost no caffeine.
A mars bar is 58g total, milk chocolate makes up ~ 40%. So 23g of milk chocolate would be about 5mg of caffeine. To put that in perspective the average cup of coffee has 95mg of caffeine.