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The driver weaved through the popular Center City destination around 3:30 p.m. Monday before crashing at 18th and Walnut streets.
"I ran up and grabbed the wheel and he was still trying to fight," witness Brandon Thompson told Action News.
Thompson was one of the handful of good Samaritans who helped end the man's dangerous joyride.
"The only thing on my mind was that he needed to be stopped," Thompson said.
Alyssa Wolfington told Action News she saw the man just minutes before around the corner.
"The man was originally standing in front his apartment building yelling," Wolfington said.
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Police say the man then carjacked cab driver Michael Emmanuel who was dropping off a customer.
"When she paid me, he came to the passenger side door, and grabbed the lady from her hair, from her collar, and dragged her on the street," Emmanuel said.
Jumping to help the customer, Emmanuel says he left his car unattended.
"He took off his clothes, opened the door, ran in the car, and drove off," Emmanuel said.
Witnesses captured the driver hit parked cars and waywardly weave through Rittenhouse Square.
Viewer Video: Cab drives through Rittenhouse Square
Pedestrians like Kyra Howell had to dart for cover.
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"I honestly saw my life flash before my eyes," Howell said.
Sources say the man may suffer from mental health illness, but residents are grateful this didn't end worse.
No injuries were reported.
"It's crazy, it was crazy. Thank God it wasn't 5:30 and people were picking their kids up from school," witness Emily Goodman said.
The man was taken to Hahnemann University Hospital. He could face assault and car theft charges among other offenses.