Authorities have taken a man into custody on the Walt Whitman Bridge, ending a three-hour standoff that closed the bridge connecting Philadelphia and New Jersey.

A woman and child inside the white SUV with the man, whom authorities said had a gun and a baseball bat, were unharmed.

The incident started earlier Thursday when authorities tried to stop the vehicle in New Jersey for a speeding violation.

The driver failed to stop, and continued onto the middle of the bridge, before stopping.

Traffic was halted on both directions of the bridge.