Janesville police said they arrested a man who pointed a handgun at another driver with a car full of children Friday night.

A driver called Janesville police just before 10 p.m. Friday to report an armed man driving in a vehicle on Milton Avenue.

The driver told police that the man pointed a semiautomatic handgun out of the window at his vehicle and the occupants.

The driver who called police was transporting a child and friends to a sleepover in Janesville at the time of the incident.

Police said officers located the suspect vehicle minutes later on Hawthorne Avenue and performed a high-risk traffic stop at the intersection of Harmony Circle and Rutledge Drive.

Police said they found two semiautomatic handguns and a billy club in the car.

Kyle G. Cliver, 21, of rural Janesville, confessed to pointing the gun out his window, according to a Janesville Police Department news release.

Police said Cliver was arrested on charges of second-degree recklessly endangering safety, disorderly conduct while armed with a dangerous weapon and carrying a concealed weapon.