HACKENSACK - A New Jersey Transit bus driver has been fired after he was caught on camera performing a sex act while he drove a bus filled with passengers through the Lincoln Tunnel. 

The lewd act was recorded on a cell phone by a woman who turned over the video to NJ Transit police.

NJ Transit arrested the driver, 41-year-old George L. Simpson for risking injury or damage by removing his hands from the wheel. He's also accused of lewdness and reckless driving. Simpson turned himself in to authorities Friday evening.

Officials say the driver was immediately removed from service without pay because of "disturbing and grossly irresponsible conduct."

Attorney Patrick Metz, who represents the woman who recorded the video, says the Central Jersey librarian was commuting home to Manhattan at around 7:30 p.m. on June 24. She saw the bus driver untuck his shirt and begin to masturbate.

Metz says the woman had been riding this bus line for years without an incident and recorded the video in disbelief.

The woman says she recorded the video to make sure nothing like this ever happens again.

Simpson, of Newark, is charged with reckless endangerment, lewdness and risking widespread injury. His bail was set at $2,500.