It happened about 7:00 p.m. in the southbound lanes near Churchman's Marsh in Newport.
Witness Anthony Parson and another man pulled over to help when they saw a car on fire with people inside.
What the Samaritans didn't know is that the male passenger and the woman driver in the car would later be arrested.
The driver Donna Johnson was arrested on suspicion of driving her vehicle while under the influence of a controlled substance and driving with a suspended license and both she and her boyfriend, Cleveland Scott, are facing reckless endangering charges.
Their 6-month-old baby, who was also in the car, was unharmed in the incident.
Witnesses tell police that Johnson had actually stopped her vehicle before, but then pulled back onto the highway and continued southbound an additional quarter mile even though the car was visibly on fire.
When the Samaritans went to check on Johnson and her boyfriend Scott once they stopped, Johnson and Scott told the Samaritan there was nobody else in the car. The witnesseswere not satisfied with their answers and checked the vehicle and discovered the 6-month-old child in their car seat.
I-95 southbound was closed for almost an hour while police responded and rushed the family to the hospital.