Authorities have arrested a 32-year-old man in connection with a fatal hit-and-run incident that claimed the life of a 36-year-old Jeep passenger Tuesday afternoon in Redwood City.

Police identified the suspect as Lazaro Gregorio Chacajlux, who surrendered to investigators one day after the deadly incident. He was arrested on suspicion of felony hit-and-run resulting in death and gross vehicular manslaughter.

According to investigators, the incident began when a Ford pickup allegedly driven by Chacajlux sideswiped a Jeep at the intersection of Hudson Street and Woodside Road. Instead of stopping to exchange information, police said the pickup continued driving away.

The Jeep passenger pursued the truck on foot and caught up with it after traffic slowed on Woodside Road. Authorities said the man grabbed onto the vehicle in an apparent attempt to prevent the driver from leaving, but the truck accelerated, causing him to fall and be run over.

Emergency responders pronounced the victim dead at the scene.

Police continue to investigate the circumstances surrounding the fatal collision. The victim's identity has not yet been released.