Video has emerged showing the moment a person grabbed a rifle from a driver, who had allegedly pointed it in the direction of police after earlier being seen driving at "excessive speed".

A 31-year-old Head Hunters gang associate now faces several charges over the "extremely dangerous" incident which ended in Glen Innes, according to police.

Footage on social media showed a black car driving erratically in a grass reserve, before a person approached the vehicle, appearing to reach into the driver-side window.

A rifle could then be seen being pulled out of the car and thrown into nearby bushes. Shortly after, a man got out of the vehicle and was taken into custody by officers.

Police said family members were on the scene engaging with the driver and that the person who took the firearm was "known" to the man.

The incident began just after 7.30pm last night as police detected a car being driven at "excessive speed" on the Southern Motorway, near East Tāmaki.

Tāmaki Makaurau road policing manager inspector Juliet Burgess said the vehicle failed to stop for the officers and wasn't pursued.

"The vehicle had been driven incredibly dangerously, weaving in and out of traffic at high speed," she said.

“The Police Eagle helicopter was deployed to the area and began tracking the vehicle, providing commentary to ground units as it exited the Southern Motorway before entering and exiting again.”

A police helicopter observed the vehicle stopping in Glen Innes, and while the car stopped a firearm was seen inside the vehicle, according to police.

Inspector Burgess alleged the driver then "pointed the firearm out the window of the vehicle while taking off at speed.

“The vehicle then mounted the footpath, drove through a wooden fence, and entered into a reserve where the driver continued to drive in an anti-social fashion.

“As armed police arrived on the scene, he allegedly pointed the firearm in their direction, causing obvious concern for the staff involved," she said.

Family members of the driver were on the scene and tried to engage with him, police said.

“One of those known to him managed to take the firearm out of his possession, as police staff approached and took him into custody," Burgess said.

“It was very evident to staff that the man was under the influence of substances throughout the course of his alleged offending last night.”

According to police, officers have "since recovered an AR-15 style assault rifle, as well as a large amount of ammunition from inside the vehicle."

A 31-year-old gang associate is scheduled to appear in the Auckland District Court today facing charges including unlawfully possessing a prohibited firearm, unlawfully possessing a prohibited magazine, presenting a firearm, reckless driving and failing to stop.

Burgess said other charges cannot be ruled out, saying it was "an extremely dangerous series of events that could have led to serious injury or worse.

“I am so proud of all the officers involved who through a well-co-ordinated approach were able to put a stop to the man’s alleged offending and bring this matter to a safe conclusion.”