It was then driven around the Westminster and Whitehall area from approximately 6am and stayed in this area until the time of the incident.
In a statement, Scotland Yard said that none of the injuries were life-threatening. Mounted police officers block a road leading to the scene where a vehicle that crashed into security barriers outside the Houses.
Police said they had arrested the driver, a man in his late 20s, and were holding him on suspicion of terrorist offences.
Two people were taken to the hospital and one person was treated at the scene of the crash. Two were taken to hospital.
Westminster Tube station is closed.
Witness Jason Williams spoke to ITV's Good Morning Britain about the incident.
"I was told to move and started to run", he said.
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Bus driver Victor Ogbomo, 49, was driving passengers past the front of Westminster when he saw the crash.
Added security was installed outside of Parliament previous year after a man mowed down pedestrians in Westminster, killing four, and then stabbed a police officer to death. A police officer gestures as he stands in a road in central London, after a auto crashed into security barriers outside the Ho.
Images from Sky News and social media showed a man in a puffy black jacket who was surrounded by officers before being handcuffed and led away from a silver Ford Fiesta.
Witnesses said the vehicle picked up speed after hitting some cyclists and crashed into a safety barrier.
In June 2017, seven people were killed and dozens injured when three men rammed pedestrians with a vehicle at London Bridge.
She said: "I was walking on the other side [of the road]. There was a loud bang from the collision and a bit of smoke", Ewelina Ochab told The Associated Press.
"I saw the auto crash into the barrier outside Westminster Palace, with smoke coming out of the vehicle". Masood stabbed a police officer to death before he was shot dead in a courtyard outside of Parliament.