A father and grandmother died in a Christmas morning car crash that left the man's two daughters injured when he reportedly fell asleep at the wheel on a New Jersey highway.

Forty-two-year-old Joel Baudouin of Arlington, Mass., was driving his family along the Garden State Parkway in Bloomfield, N.J., when he ran off the road and crashed his car into a tree at about 1 a.m. Thursday, according to authorities.

Both Baudoin and Boston resident Marie Vernet, 70, died at the scene after the car crashed into a 40-foot-tall tree, toppling it onto the vehicle, which was crushed.

Baudoin's daughters, 13-year-old Rachele and 8-year-old Cassies, were trapped in the vehicle but rescued by authorities, who had to rip the roof off the car to rescue them. Rachele broke her right leg. Her sister suffered minor injuries. Both are in stable condition at University Hospital in New Jersey.

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The Associated Press contributed to this report.