Police in Newburgh, New York say a mother distraught over an ongoing domestic dispute drove her minivan into the Hudson River Tuesday night with her four children inside. The mom and three small children drowned, while a 10-year-old boy managed to survive.

The woman, identified as Lashandra Armstrong, drove down Washington Street off the boat ramp and into the Hudson River at around 8 p.m. Tuesday, officials said during a press conference Wednesday.

Police say Armstrong had four child passengers in the vehicle identified as 10-year-old Lashaun, 5-year-old Landen Pierce, 2-year-old Lance Pierre, and 11-month-old Lainaina Pierre.

Her eldest son Lashaun was the only one able to escape the submerged vehicle, climbing out a back window and swimming to shore. His mother and siblings tragically drowned.

Lashaun who was spotted by passerby Mavis Ryan, was driven six blocks to a nearby firehouse where he was treated.

Officials say he was soaking wet and had difficulty speaking. Eventually, the boy was able to tell officials about his mother and siblings, and the vehicle in the Hudson River. A police officer arrived at the firehouse to take custody of the boy.

Firefighters, police boats, helicopters and divers responded to the location where the car entered the murky Hudson River.

The car was found about 25 yards offshore in 8- to 10-feet of water about an hour later. Investigators believe the children were alive at the time of the drowning.

The water temperature at the time was between 40- to 45-degrees.

The police chief in Newburgh called the discovery of the van with the bodies inside a "horrible sight" while Newburgh Mayor Nick Valentine described it as a tragedy that was second to none in the city's history.

Officials also said if 10-year-old Lashaun did not survive, their investigation would have probably become a missing persons case.

Cops believe this tragedy is somehow connected to a domestic dispute from earlier in the evening. They received a call around 7:45 p.m. Tuesday from relatives that there was some sort of verbal altercation at the woman's home between Lashandra and the father of three of her children.

But when officers arrived at home, located at 53 William Street, no one was home.

Soon afterward, the 10-year-old showed up at the firehouse with the shocking tale. Officials say he appeared "shaken up" and made no mention of a previous altercation his mother may have had at their William Street residence.

Officials say all four children shared the same mother, but Lashaun had a different father than his three younger siblings.

The father of the three young victims, Jean Pierre, does not live at 53 William Street and investigators say there was no documented domestic disputes at the house.

The bodies are now at the medical examiner's office and the van is in police possession. Autopsies for all the victims are scheduled for Wednesday.

The exact circumstances surrounding Tuesday evening's tragedy is under investigation.

Newburgh is about 60 miles north of New York City.