Nearly 300 people were aboard at the time of the crash, according to officials.
DUMBO, Brooklyn -- A Mexican Navy sailboat with 277 people on board crashed into the Brooklyn Bridge Saturday evening, killing two people and injuring more than a dozen others who were on board in a dramatic scene along the New York City waterfront, according to authorities.
The video in the player above is from a previous update.
The crash occurred at 8:30 p.m., resulting in at least 19 people injured, according to the New York Police Department. Four people were left with serious injuries, according to city officials, who gave a press briefing late Saturday evening.
Mayor Eric Adams said early Sunday that two people were dead following the crash. Two others remained in critical condition, he said in a statement posted to social media.
The Mexican Navy confirmed that its ship Cuauhtémoc was involved.
The Cuauhtémoc, a training ship, was undertaking a maneuver in the East River.
"The captain, who was maneuvering the ship, lost power and mechanical function, and the current "caused the ship to go right into the pillar of the bridge, hitting the mass of the ship where there was a couple of sailors," NYPD Chief Wilson Aramboles said during a press briefing.
The sailors were injured as a result of the mass striking the bridge, according to Aramboles.
Numerous cellphone videos from nearby onlookers captured the moment the ship's masts, decorated with lights, collided with the bottom of the Brooklyn Bridge. In one video, a woman filming the ship on her phone can be heard wondering aloud if the ship might collide with the bridge. When the ship's mast strikes the bottom of bridge, she screams, "It crashed! It crashed!" in Spanish, and then, in English, as the ship continues to approach the Dumbo shore, "Stop! Stop!"
"Oh my God," she continues in English, and then, in Spanish, she says, "It crashed, it crashed. Run away from there," referring to people gathered on a pier where the ship seemed about to hit.
Members of the ship's crew were seen dangling from the masts after the collision.
No one fell into the water, according to officials. Officials said they did not believe the bridge sustained any structural damage.
The ship was disembarking from Pier 17 and heading to Iceland, officials said.
The National Transportation Safety Board is on site and will begin its investigation, but preliminary information shows it was likely a mechanical issue with the sailboat, according to officials.
The Brooklyn Bridge had temporarily closed after the crash but has since reopened, according to the New York City Department of Transportation.
"While inspections will remain ongoing, there are no signs of structural damage to the Brooklyn Bridge," NYDOT said in a statement.
ABC News' Josh Margolin and Clara McMichael contributed to this report. WABC contributed to this report.