A Peabody man is facing charges after leading police on a chase that began in Auburn, went onto the Massachusetts Turnpike and Interstate 495, where the man crashed and allegedly threw a gun at State Police troopers.

Auburn police officers were doing a routine drive through town around 4:20 p.m. when they saw two cars parked at the Outback Steakhouse. Police saw a man inside each car and they appeared to be exchanging something, Auburn Police Detective Sgt. Scott Mills said during a press conference.

Police stopped one of the men, later identified as Marqus Mitchell, and began talking to him, Mills said during the press conference, which was streamed live by Boston 25 News.

Mitchell, 33, spoke to officers outside his car and appeared to be under the influence and would not take his hands out of his pockets, Mills said. Police began to do a pat down search of Mitchell and found cocaine on him.

At the same time, an officer found a loaded magazine for a firearm inside the car. When the officer asked Mitchell if he had a license to carry, Mitchell began resisting arrest.

"He immediately tensed up and started resisting," Mills said. "He put up a pretty decent fight."

Police Tased Mitchell twice, but it had no effect on him, Mills said. He was able to get back into his car and drive off.

Mitchell drove onto Route 12, got onto the Pike, and eventually made his way onto I-495. It was not immediately clear how fast he was driving as Auburn police and State Police chased him.

Mills said that Mitchell tried to drive in the wrong direction on I-495 near the Exit 24 ramp to Route 20 and crashed.

When Mitchell got out of the car, he had a firearm in his hand and threw it at State troopers, Mills said. Police used pepper spray and arrested Mitchell. A Westborough police officer was injured by the pepper spray during the incident. Both the officer and Mitchell were treated.

As Mitchell was arrested, police discovered that he still had at least one of the barbs from the Taser attached to him.

Mitchell was not known to Auburn police before Tuesday, Mills said. He has a criminal record with some drug offenses in New Hampshire and a small record in Massachusetts.

Mills said Mitchell will be arraigned Wednesday in Worcester District Court.

Mitchell gave police an unclear address but said he lived in Peabody. The car he was driving is registered in New Hampshire, Mills said.

The man Mitchell was seen meeting with in Auburn was stopped by police and arrested on motor vehicle violations, Mills said. That man's name was not released.

What the two men were doing in the Outback parking lot is still under investigation, Mills said, but police believe Mitchell was selling drugs.

State Police are expected to release more information about the chase.