The bear was roaming around Makefield Road and Lincoln Highway in Falls Township Wednesday morning.
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The Action Cam was on the scene as the Pennsylvania Game Commission pulled away with the trap containing the cub.
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It is not yet known if this is the same bear cub that has been spotted in Yardley and Lower Makefield Township
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Surveillance video showed the bear knocking over a bird feeder while looking for food.
RELATED: Video captures bear wandering through Bucks County neighborhood
Video captures bear wandering through neighborhood
The last known sighting was in Five Mile Woods, behind a Kohl's department store, officials said.
Police said this is the time of year where bear cubs leave their moms and look for a new home.