Authorities on Friday evening took a man, woman and three children into custody after a chase that reached speeds of up to 90 mph on multiple freeways and surface streets in Orange and Los Angeles counties.

The adults were being held on suspicion of child endangerment, said Cpl. Andy Luong of the Buena Park Police Department. The man, who had outstanding warrants, was also being held on a felony evading charge.

The children, all between the ages of 8 and 16, were released to relatives, Luong said.

The incident began about 8:35 p.m. when an officer attempted to pull over a Nissan Pathfinder near the intersection of La Palma and Stanton avenues (map), the Police Department said.

Instead of stopping, the driver entered the nearby 5 Freeway and headed north, according to Luong. Initial reports had said the pursuit began on the freeway.

The California Highway Patrol took over the chase when it reached the 605 Freeway in Santa Fe Springs.

The Pathfinder exited the 5 and made its way through surface streets in Lakewood before reentering the freeway, aerial video showed.

The driver then continued north and transitioned to the northbound 710 Freeway in the city of Commerce. The vehicle moved onto the eastbound 10 Freeway before transitioning to the southbound 605 Freeway in West Covina.

CHP officers followed the SUV as it again switched over to the northbound 5 and continued on through Commerce.

After getting off the 5 and speeding though the streets of East Los Angeles, the driver reentered the freeway and headed back toward Orange County.

More than 90 minutes after the chase began, it ended when the Pathfinder pulled over on the right shoulder of the southbound 5 Freeway in the Anaheim area.

The driver exited the vehicle first. Once he was taken into custody by the CHP, the woman and three children subsequently got out of the SUV.

The woman stood in front of the 8-year-old passenger as they walked backward toward the officers.