Around 9 p.m., a GMC Acadia and a box truck crashed on the upper level of the bridge, coming into New York City. The Port Authority said the Acadia with New Jersey plates struck the rear of the truck, which was stopped in traffic.
The two who were killed have been identified as 40-year-old Hector Pedercini and 5-year-old Marianna Pedercini. They were pronounced dead at Columbia-Presbyterian Hospital.
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There were three other people inside the SUV: a 40-year-old woman, a 64-year-old woman, and a 1-year-old girl.
The other injured passengers also were taken to Columbia-Presbyterian.
The people in the SUV are all members of a family from Howell, New Jersey, but Port Authority Police are working out their exact connections.
The baby and two adult women are serious but stable.
Authorities believe the family was returning from a party in New Jersey.
The driver of the box truck, a 59-year-old man, was not hurt.
All inbound upper level lanes were closed for several hours after the crash. The upper level was completely reopened at around 2:30 a.m., but there were inbound delays unconnected to the crash.
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An investigation into the cause of the crash is underway.