The driver stopped around 9:40 p.m.at East Broad Street and 11th Street, surrendering to police, according to NBC 12 in Richmond.
Numerous videos of the chase - which lasted almost two hours - appeared on social media with many observers shocked by the scene.
Once in Richmond, several police squads followed the armoured personnel carrier - which travels on tracks similar to a tank - through downtown as it headed towards the Capitol building, the Richmond Times-Dispatch reported.
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Yabut told The Associated Press he was first notified of the training exercise by his commander a week before he drove the vehicle away Tuesday evening from Fort Pickett. He is a former member of the Illinois National Guard and deployed with them to Afghanistan from 2008-2009.
Video showing the APC driving along city streets stumped the social media.
The vehicle mostly stuck to highways, topping out at speeds of about 45 miles per hour, she said.
Oliver stated there's no indication that anyone other than the driver was injured during the incident, and no crashes occurred during the chase. He ultimately stopped the vehicle after exiting a highway near downtown Richmond. Also, the tank didn't have any weapons, and while Yabut did have his sidearm, he did not have any ammunition.
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Police say charges are pending.
The base is used for National Guard training.
This undated image provided by Richmond City Sheriff's Office shows Joshua Yabut. Police sent a dog to attack him, shot him with a Taser and he was taken into custody, the witnesses said.
Yabut, who was reportedly under the influence of drugs when he hijacked the massive M577 vehicle, shared shots of his 60-mile run through Virginia while tweeting weird comments, all while the police were on his tail.
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