MADISON, Wis. -- The two drivers who crashed into the IHOP restaurant at 4614 East Washington Avenue on Friday have now been formally charged by police.

VIDEO: Watch The Report | SLIDESHOW: View Images Of Multiple-Vehicle Crash At IHOP

23-year-old Michael Archambault and 22-year-old Andrea Hall have been charged with operating a vehicle while intoxicated and reckless endangerment.

The charges stem from the crash that happened just after 7 p.m. Friday.

Police said that the drivers were racing each other on Zeier Road headed toward East Washington Avenue when they ran a stop light, crashed into each other and both became airborne.

Police said a car driven by Hall struck the IHOP. Police said a pickup truck driven by Archambault landed in the restaurant's parking lot, crashing into other vehicles.

"I hadn't gotten out of the car yet, and I heard a screech to my left. I looked over and a gray sedan and a dark gray pickup were flying towards me," said Gary Fulton, whose van was hit in the crash.

Witnesses said that the driver of the truck then tried to run away but was tackled by restaurant patrons.

Fortunately, no injuries have been reported.