It happened around 9:30 Saturday morning on Route 30 at the Garden State Parkway.
A concerned driver called 911 about a car driving erratically.
Police arrested 30-year-old Paul Dessicino. They say his 4 and 5-year-old children were inside the vehicle.
He's now being held on $10,000 bail for child endangerment, DWI, heroin possession and reckless driving.
Dessicino's children were placed unharmed in the care of their mother.