A woman driving with four children felt the heat of a bullet that entered her vehicle Thursday night, an incident that led to the arrest of a Hempstead teenager, Nassau police said Friday.

The victim, 57, was in her GMC with four children about 7:14 p.m. when she saw a flash of light to the left, by West Graham Avenue and Brooklyn Road, and then felt heat on her hip, police said.

She declined medical attention because the bullet did not pierce her skin, police said. The bullet was recovered, authorities said.

Who fired the gun was not clear, but police said Duane Costa Jr., 17, was seen taking a white bag with a handgun from a yard on Martin Luther King Drive, which is near where the woman was struck. Costa was also seen leaving the area, but he is not the shooter and the investigation continues, police said.

Costa, of Martin Luther King Drive, was arraigned in First District Court in Hempstead on Friday on charges of criminal possession of a weapon, criminal possession of a firearm and tampering with physical evidence. He was held on a $75,000 bail and represented by Legal Aid, which has a policy of not commenting on cases in the early stages.

A police spokeswoman said Costa is not the gun’s owner and that other details were not available due to the ongoing investigation.

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According to the complaint against Costa, investigators obtained a video in connection to the incident and the Hempstead teenager told police “Yes, that’s me in the photo. I am wearing the same clothes.”

The teenager had a 9-mm handgun and told police that the white bag and its contents belonged to him, court papers said in citing the basis for the tampering charge.