It happened just after 11 p.m. Sunday at Broad Street and Erie Avenue in the city's Tioga section.
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Police say the 29-year-old male driver of a 2010 Ford was traveling westbound on Erie and went through a red traffic light.
The vehicle struck a 2005 Ford that was being a driven by a 33-year-old male.
Video obtained by Action News captured the crash.
"I was scared because I know it could've been me. It could've been me. I just nearly missed it," recalled one witness.
The two drivers, as well as four passengers in the 2005 Ford including two children aged 5 and 6, suffered minor injuries.
The impact of the crash sent the 2010 Ford onto the sidewalk where it struck two pedestrians.
A 52-year-old man was taken to Temple University Hospital in critical condition.
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Police say he had been pinned under the vehicle and it took about 10 minutes for him to be rescued.
A 47-year-old man was being treated for minor injuries.
A traffic light was knocked down in the collision and both vehicles were towed from the scene.
The investigation is active and ongoing with Crash Investigation Division.