Police chase in Bay Area, CA

WATCH LIVE: The California Highway Patrol has been following a gold Lexus with two people inside in the East Bay since around 4 p.m. on Friday.

Footage from FOX 2 San Francisco showed the vehicle driving erratically around the streets and highways in East Bay, California. Driving on the wrong side of the wrong, running red lights, and narrowly missing other cars.

The pursuit began in Contra Costa County on westbound Highway 24 through the Caldecott Tunnel before it ended up in Oakland on Highway 13.

The chase went onto Interstate 580 eastbound to Seminary Avenue, down Foothill Boulevard to 98th Avenue, to southbound Interstate 880 before making its way to Dublin.

Just before 5:30 p.m., the pursuit went back onto westbound I-580 and was seen in the area of Pleasanton.

At around 5:49 p.m., the pursuit made its way back onto northbound I-880 towards Oakland from the Hayward, San Lorenzo area.

A Contra Costa County Sheriff's Office helicopter, assisting with the pursuit, took over for a CHP helicopter as it needed to refuel.

Just before 6 p.m., the Lexus made its way into San Leandro from I-880.

The vehicle has been seen driving the wrong way into oncoming traffic.

All times are local, Pacific Time

This is a developing story. Please follow for more updates.

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