Police say once in custody, Vargas-Rosas continued threatening his officers lives.
Another passenger called 911 from the bus to report a male claiming to have a gun and making threats to kill people Friday night as the bus headed to Chicago from Milwaukee, the Racine County, Wisconsin, Sheriff's Office said.
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Authorities found the bus on southbound Interstate 94 and tried to stop it but did not until after it crossed into IL, the sheriff's office said.
Greyhound released a statement saying police from several counties responded to the scene. Authorities safely evacuated all the passengers; no injuries were reported, officials said.
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"Before I know it, there's like 20 police cars in front of us and on the side of the road", passenger Chris Walker says. "And somebody had to tell him, 'Look, pull over, we don't got no wheels man, you gotta pull over, '" recalled passenger Terrance Williams. The suspect was taken into custody without incident, police said.
Vargas-Rosas is being held at the Lake County Jail in IL but is facing a felony charge of making terroristic threats in Racine County.
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Because of this incident, all lanes of southbound I-94 near Wisconsin 50 in Kenosha County were shut down.