It happened just after 6 p.m. Friday near the Spring Ridge Apartments on North 14th Street in Whitehall Township.
Police say 55-year-old Rajgion Davis crashed into an unoccupied Toyota RAV4 -- which was owned by a local resident -- before fleeing the scene.
Moments later, authorities say the car's owner went outside to inspect the damage with two other neighbors who had been out walking their dog.
That's when police say Davis turned back and drove directly at all three victims.
Witnesses said Davis struck a man, the car's owner, and two other vehicles.
The car owner was rushed to the hospital with serious injuries. Police say the other victim, identified as 53-year-old Stephen Fistner, died a short time later.
Davis allegedly walked away from the scene after the second collision, but residents followed and recorded him.
Police say the neighborhood's actions helped them identify and arrest Davis quickly.
Action News spoke to one neighbor who says she ran over to help the victims and console residents.
"It was a terrifying experience for the whole community, we all know each other. It's a pretty small apartment complex," said Bonita Bates. "Steve and his wife were always very friendly. I just can't imagine how someone could decide to intentionally hit someone with a car."
According to a criminal complaint, Davis told detectives, "My intention was to harm and kill (car owner) because she disrespected him and multiple friends. I did not mean to kill that other man."
Bates said the scene was hard to cope with.
"She was crushed underneath the car," Bates recalled of the first victim. "One of the other neighbors was already talking to the gentlemen, Steve, who was in and out of consciousness, telling him he wasn't alone."
Action News also spoke with Fistner's wife, Yessenia, after the incident. She said they were supposed to be celebrating their 23rd wedding anniversary on Saturday, but instead, she was visiting funeral homes.
"A kind, loving, and thoughtful man," Yessenia said, describing her late husband. She also said the victim leaves behind three grandchildren.
Investigators say they do not have a clear motive yet. It's also unclear what relationship Davis had with the first victim, aside from police saying they were previously neighbors.
Residents told Action News the two had known each other for years.
The car owner remains in the hospital. Her condition is unknown at this time.
"A lot of people in the community know her and we're all praying that there is some way for her to be able to recover because it was just really excruciating and painful for everybody," said Bates.
Davis has since been charged with homicide, attempted murder, and other related offenses.