A body has been found inside a car after it was seen driving into the water near Auckland's Harbour Bridge on Tuesday evening.

The car was recovered just 10pm, several hours after it was originally seen entering the water.

Several firefighters jumped into the water at Westhaven just after 7:20pm, but weren't able to find the car.

The body was found in the driver's seat and police are now working to identify them.

The car has since been winched out.

Newshub.