South Orange police have arrested the driver connected to the hit-and-run crash that claimed the life of a pedestrian from Carteret Monday night.

Authorities say they questioned 29-year-old Frank Bradley, of Newark, and believe he was driving the black Honda Civic that killed 49-year-old James Walsh. The car was found in Newark near Bradley?s home on Columbia Avenue.

The incident happened on South Orange Avenue near the intersection of Vose Avenue at around 8:15 p.m. Authorities say Walsh was crossing the street with his daughter and a friend when he was hit by the vehicle. Ria Halkias, a waitress who witnessed the crash, says the driver of the Honda crossed over the double yellow line and went into oncoming traffic to get around cars that were stopped before he hit Walsh.

?The body hit the windshield and flew up and fell on the road," Halkias says.

News 12 New Jersey obtained exclusive surveillance video of the crash from a local business. The video shows the car was traveling west in the eastbound lane of South Orange Avenue before striking Walsh.

According to police, Bradley was driving with a license revoked five years ago. Police say he was being pursued just minutes before the hit-and-run crash for erratic driving in Orange. Police ended their pursuit near Scotland Avenue shortly before the car entered South Orange.

Bradley has been charged with aggravated manslaughter, vehicular homicide and causing death while driving with a revoked license.

Surveillance video of crash, interview with an eyewitness