Authorities say three juveniles were arrested Friday after a carjacking at gunpoint led to a chase with Bridgeport police.

The incident began on Main Street around 7 p.m., where police say three underage males stole a BMW at gunpoint. They say the suspects fired shots at the people in the car.

Police say the chase extended from Ocean Avenue, to I-95, to the Lordship area of Stratford. They say it ended when the three juveniles bailed out and tried to make a getaway on foot.

Police say the driver wrecked the BMW after hitting an embankment, then tossed at least one handgun into a marshy area nearby. The weapon was later recovered.

Police Chief AJ Perez says at least two of the juveniles were quickly released into the custody of their parents, which he says points to a flaw in the criminal justice system.

"We need to change or modify how we deal with juveniles," the chief told News 12.

He says it's a miracle nobody was hurt or killed considering how fast the teens were driving.

Police say the getaway driver has a long history of stealing cars and possessing weapons.