The scene unfolded at about 12:45 p.m. about half a mile across the bridge from the Queens side.
Police said one soldier was hit by a car in the incident, suffered minor injuries and was taken to Elmhurst hospital.
It looks like the driver was able to get to Manhattan but not out of Harlem.
Authorities stopped a gray Acura at 140th Street and Adam Clayton Powell Boulevard and a man was arrested.
Video from the scene shows traffic on the bridge coming to a halt as police investigate.
The video shows at least three vehicles damaged and a number of innocent drivers rushing into the danger zone.
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