One witness said she could not help but pull over, to catch the scuffle between a police officer, a bystander, and Taylor.
It began when a Fayetteville police officer responded to a call of a suspicious person with a weapon on Campground Church Road near Nix Road around 5:20 p.m.
Once the officer arrived, he found Taylor armed with a hammer. During attempts to end the situation, the officer fired a Taser at Taylor which did not subdue her.
Video of the incident given to ABC11 by a witness shows Taylor on the ground with the officer and an apparent bystander on top of her, but she is able to get up and climb into the driver's seat of the officer's patrol car.
She then drove the police car away from the scene - with the officer in pursuit on foot - and continued onto Morganton Road.
Taylor then crashed into other cars at Morganton and Skibo Roads. In all, four vehicles were involved.
Witness Sidney Jones said she decided not to follow the action or even get out of her car because she was so stunned after witnessing and recording the parking lot struggle.
"What was I gonna do? The police couldn't handle her? I knew that I couldn't handle her. I was not going to try," said Jones.
Taylor was taken into custody and taken to Cape Fear Valley Medical Center for evaluation. There are no reports of serious injury from the crash.
Taylor was charged with assault of a police officer with a deadly weapon and resisting arrest.