It happened Friday afternoon at Highway 96 and Earpsboro Road.
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Four minor injuries were reported
Bus 607 was coming from Corinth-Holders Elementary School when the crash happened.
Fifth-grader Juanita Turcios was on the bus heading home.
"I was just sleeping because I was kind of tired, and then after I was sleeping, a car crashed into the bus and everyone jumped up, and little kids like kindergarten were crying because they were so scared," Juanita told ABC11.
The incident caused a few moments of panic.
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"Everyone was saying Oh my God! God save us!" Juanita recalled.
All 21 students were able to get off safely. Four of the students had minor injuries but didn't need to go to a hospital.
Chopper 11 saw medics on the scene checking everyone out as state troopers scanned the crash scene.
The bus did not sustain much damage but the other car had heavy damage to its front end.
The Highway Patrol said the car was approaching a stop sign and the front end was stuck out too far into the intersection as the bus was traveling north. The driver was cited for failure to yield to a stop sign.
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"As close as the car was in the intersection, it wasn't that far, to begin with, I don't know that anyone could have stopped in time to prevent it from happening," said State Trooper Christopher Bell. "It's just on the driver at the stop sign to make sure they yield, and it's safe before they cross."
The couple in the car stayed at the scene until the tow truck arrived. They did not want to talk on camera.
Parents eventually arrived to pick up their children. Juanita said she was glad to be going home safe and sound: "Right now, I'm happy because I'm with my mom and dad."
The bus was later towed away from the scene, which was in Zebulon but over the Johnston County line.
Juanita said she forgave the couple in the car.
"It was a grampa and grammy," she said. "I felt bad for them."