It happened in the 6100 block of Ludington Drive Thursday night.
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According to the Houston Police Department, the ambulance was stolen while HFD first responders were out on a service call at a nearby apartment complex.
Police say the man jumped in the ambulance and drove off.
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LISTEN: HPD tracks the stolen ambulance to a fast food restaurant drive-thru
LISTEN: Houston authorities track stolen ambulance
"Officers tracked the ambulance to a fast food outlet where the driver was at the drive up ordering food with emergency lights," read a tweet posted by HPD.
The suspect was later arrested and taken into custody. No injuries were reported. The incident remains under investigation.