Six people were arrested after a police chase in New Jersey ended with the suspects' vehicle careening into and killing a former Marine and his dog who had been walking on the street, authorities and family members said.

Darroll Morris, 55, was walking his dog early Monday when he and his Shih-Tzu, named Jordon, were hit by a 2003 white Acura that was being pursued by East Orange police. Both Morris and his dog were killed.

Three men, two women and a female juvenile who were in the car were taken into custody at the scene. It wasn't immediately clear what sparked the police pursuit.

Morris' family says the man killed was a father of six and a former Marine who attended church every Sunday. Jeffrey Morris described his brother as a "God-loving man" and "a good person" who loved to take his dog for walks.

Rhonda Morris, the victim's sister, said police should refrain from high-speed chases in residential areas because of accidents like the one that claimed her brother's life.

"This is not the first time, I mean, is it going to be the last?" she asked.

Information on charges filed against the suspects also wasn't available.

Essex County prosecutors said the investigation is ongoing.

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