LAKELAND, Fla. — It was a scary moment for passengers on an Amtrak train that collided with a semi-truck in Lakeland on Friday night.

According to Lakeland Fire and Police officials, the collision happened around 7 p.m. on Canal Avenue North, just south of US-92. The train stopped in Tampa and was continuing on its route when the crash occurred.

The train was carrying 163 passengers and 10 crew members from Miami to New York City. Officials said seven people were taken to the hospital, but no serious injuries were reported in connection with the crash.

A semi-truck carrying cars was parked on the tracks, officials said. In a statement, Amtrak officials said when the train crashed into it, the front locomotive derailed.

According to a video submitted by a Spectrum News viewer, the train can be seen traveling on tracks adjacent to the road before hitting a truck in the crossing at Canal Avenue North and U.S. 92.

Those who were on board said the crash took everyone by surprise, but they're thankful it wasn't a worse outcome.

“There’s that 10 seconds where you have no idea what’s going on and everything’s in slow motion, but I walked away from it,” said Hawke Kirschner, a passenger on the train.

Another passenger recalled the moment when the train and the semi-truck made contact.

"All of a sudden, you heard the brakes for about two minutes and then it got harder, and then all you heard was the impact and the front of it went off to the left, and where we were sitting in the food hall, the trailer smacked the side and then it came to a stop probably about 40 seconds after,” Charles Lang said.

Officials from CSX, Amtrak and the National Transportation Safety Board (NTSB) also responded to the scene. Polk County Sheriff Grady Judd said it was "truly a miracle" that no one was seriously hurt in the crash.

"A collision between a passenger train and a semi-truck could have been much worse," he said. "Our sympathies are with those who were injured. I don't think I could say enough about the incredible response and total team effort by all of the agencies involved."

People on board were able to get other transportation to other destinations. 

According to the Polk County Sheriff's Office, the cost of cleanup and losses due to track downtime is estimated to be between 6 and 10 million dollars. 

The train originates daily in Miami and uses tracks owned, maintained and controlled by CSX railroad, Amtrak said in their statement. 

Officials said they aren't sure why the semi-truck was parked on the tracks, and that will be part of their investigation.