LAKE COUNTY, S.D. (KELO) — A man with a history of violence against law enforcement is back behind bars — this time accused of shooting at authorities in Lake County and others in a multi-county chase.

Court documents say 40-year-old James Lanpher faces two counts of aggravated assault on law enforcement. He’s on active parole for assaulting a Minnehaha County deputy in 2018.

Forty-five-year-old Bonner Juel also faces two counts of aggravated assault on law enforcement. Both men are being held in the Lake County Jail.

The arrests come after Thursday’s roughly 30-minute vehicle pursuit that went the wrong way on Interstate 29 and eventually came to an end in Madison.

Court documents say the Sioux Falls Area Drug Task Force had information Lanpher was believed to be moving meth from Minnesota to South Dakota. The South Dakota Highway Patrol tried to stop the Sioux Falls man in Minnehaha County shortly after 2 p.m.

When Lanpher didn’t stop for law enforcement, the pursuit started. Within two minutes, authorities involved in the chase reported shots being fired at them. They said they were shot at two additional times in the next six minutes. The vehicle entered I-29 going north in the southbound lanes until it reached Exit 109.

While traveling on Highway 34 and other roads on the way to Madison, the car was said to be traveling at high speeds while eluding law enforcement.

Once the suspects got into Madison, law enforcement reported more gunshots fired at them. Court documents say Lanpher tried to take someone’s vehicle from them while holding them at gun point. That driver was able to get away.

Thirty minutes after the first attempted traffic stop, authorities said Lanpher ran from his vehicle while shooting at them. He also tried to break into a nearby home but the owner was able to keep him out.

Our photographer found evidence of several gunshots in Madison.

On Thursday, the Lake County Sheriff told us the case was turned over the DCI because it was an officer-involved shooting.

“This is something that doesn’t happen in Madison and we’re fortunate that everyone’s safe,” Sheriff Tim Walburg said

Lanpher is charged with aggravated assault on law enforcement. It’s a crime he’s served prison time for in the past and why he’s currently on parole.

Bond for both men is set at $50,000 cash only.