Massachusetts police were investigating after a driver was caught on surveillance footage appearing to ram into four children on a sidewalk Sunday evening before driving away.

The hit-and-run happened just after 6:30 p.m. in Stoneham, a suburb 15 miles north of Boston. The four children, who are ages 12 and 13, all survived the crash, but two were taken to the hospital with minor injuries, Stoneham police said in a statement.

Police did not identify the children, but some of them spoke with NBC Boston.

"I just looked over and I saw headlights coming ... it all happened in an instant," a girl who was hit said. "I ran away because I didn't know if the car was going to hit me again."

The children were with their bikes on the sidewalk when they were struck, the black-and-white video shows. After the crash, the driver backed up, hitting a parked car next to the children and fled.

"It's just messed up that they would leave four kids like that on the ground," another child who was hit told NBC Boston.

Police believe the suspect was driving a dark-colored Subaru Legacy.