The Independence Police Department (IPD) received a report of shots fired in that city Monday evening.
Witnesses reported a gold Mercedes pulled up to a house and the driver threatened a person with a weapon. Shots were fired and the Mercedes fled the area.
Officers intercepted the Mercedes and arrested the driver after a short pursuit.
33-year-old Marcus Lawrence of Independence was arrested for aggravated assault with a deadly weapon and criminal threat.
Independence police say the event was not random and the individuals involved know each other.
Police are asking residents in the area to share any surveillance camera video they they have that might help with the case.