NEW YORK — All lanes of the Robert F. Kennedy Bridge have reopened after a shooting involving police on the bridge Sunday afternoon.

A man driving a stolen vehicle struck and injured a New York state trooper on the span, prompting the trooper to fire several shots, authorities said. 

Police officers were trying to stop the 21-year-old man driving the vehicle around 12:40 p.m. when he sped off and hit the trooper on the bridge, officials said. The trooper then fired shots, according to officials. 

The trooper, who suffered a minor leg injury, was taken to NYC Health + Hospitals/Elmhurst for treatment after the driver hit him, the NYPD said. 

Two other police officers — one of whom is an MTA Bridge and Tunnel Officer — and four civilians were also hospitalized in connection with the incident, the FDNY and the MTA said. The extent of their injuries wasn't immediately clear. 

The 21-year-old was arrested in Harlem not long after the incident, the MTA said. He faces charges including unauthorized use of a motor vehicle, reckless endangerment, vehicular assault, fleeing, obstruction of governmental administration, leaving the scene of an accident with injuries, and unlicensed operation of a motor vehicle, the agency said.

His 17-year-old passenger was also arrested, according to the MTA. The passenger faces charges including riminal possession of a weapon, possession of an imitation firearm, obstruction of governmental administration, and unauthorized use of a motor vehicle.