Antoinette Stewart told 7News the man knocked on her door at about 1 p.m. and said he just hit her car.
"All of the sudden he started opening the car up," she said. "He got in and sat in the driver's seat, lifted his shirt up and I saw a gun. He said 'Don't give me any trouble.'"
The man stole two more cars before he hit a utility pole in Bedford and was captured, according to police. He was transported to Lahey Clinic with a gunshot wound.
The man led cruisers on a wild chase through Middlesex County. He drove as fast as 85 mph and at one point crashed through some gates at Hanscom Air Force Base in Bedford.