RACINE COUNTY, Wis. (CBS 58) -- Three people are in custody after a theft at a grocery store leads to a high-speed chase involving multiple law enforcement agencies and spanning across two counties.

According to the Racine County Sheriff's Department, Franklin Police asked for help around 6:30 Friday evening to stop a vehicle said to be involved in a theft at Sendik's Food Market. 

Later, dispatch began receiving calls saying that the car was driving erratically. A Racine County Sheriff's deputy spotted the vehicle and tried to stop it. Authorities say the car continued to speed through a construction area and started going towards STH 20/Washington Avenue. The Sheriff's Office says the pursuit ended at that point. 

Later, a Sturtevant officer saw the vehicle and again tried to stop it. The vehicle pulled into a cul-de-sac and police tried a felony stop. The vehicle sped through several lawns before running out of gas at CTH K/Northwestern Ave. at Nicholson Road. 

The Racine County Sheriff's Office says they found seven people inside the car, including a 14-year-old. 

The 30-year-old driver of the vehicle was taken into custody on several counts of recklessly endangering safety and knowingly fleeing and eluding a traffic officer. Officials say two others were taken into custody on outstanding warrants. 

The Sheriff's office say more charges could be pending from the City of Franklin Police Department and the Village of Sturtevant Police Department.