According to the Los Angeles Police Department, officers began pursuing the driver - who was believed to be armed - in Burbank at around 4 p.m.
That suspect was driving what appeared to be a Cadillac Escalade with Texas license plates with the two minors as passengers. Police told ABC7 the SUV was stolen from Texas - where all three suspects are from.
At one point, the driver was speeding down the northbound lanes of the 170 Freeway, weaving through traffic in the middle of rush hour. He then veered off the road and let the two other suspects hop out into a neighborhood.
AIR7 HD cameras captured one of the fleeing suspects attempting to take off, but he quickly hopped back into the vehicle as soon as he realized officers were approaching.
The chase lasted about 15 minutes before two suspects were ultimately taken into custody. The two spent several minutes running through an apartment complex before they finally surrendered to officers.
Police say a gun was recovered along the 118 Freeway, though officers aren't sure who it belongs to.
The incident remains under investigation.