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The incident happened around 2:30 p.m. on the eastbound express lane near the Green Street exit.
The aircraft, a single engine Light Aircraft, was being operated by the Bergen County Prosecutor's Office.
The plane was on a training flight with an insructor and a flight safety officer on board.
There were no injuries to report.
New Jersey state police say the plane was headed for Teterboro Airport, but was forced to land on the highway due to a fuel line problem.
A crew removed the plane on a flatbed truck.
(The Associated Press contributed to this report)
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