Rudy Giuliani has been discharged from the hospital and is “progressing well” following an injury sustained when the vehicle he was in got rear-ended on a New Hampshire highway, his spokesperson reported on Tuesday.

The 81-year-old former New York City mayor was injured on Saturday shortly after he stopped to “assist a person in urgent need of help,” according to a statement by his spokesperson, Ted Goodman.

“He has been released from the hospital and greatly appreciates the love, well wishes, and prayers he has received,” the statement by Goodman said. “The mayor also extends his thanks to the New Hampshire State Police, paramedics, Elliot Hospital, and all the doctors and nurses who provided him with excellent care.”

Goodman was driving the vehicle with Giuliani as his passenger when their rented Ford Bronco was hit from behind on Interstate 93 by a Honda HR-V, driven by a 19-year-old woman, as reported by the New Hampshire State Police. Both vehicles collided with the highway’s median, ending up “heavily damaged,” according to the statement.

Goodman and the 19-year-old suffered “non-life-threatening injuries” and were taken to hospitals for treatment, the agency said.

Giuliani was transported by ambulance to a nearby trauma center to treat a fractured thoracic vertebra, along with multiple lacerations, contusions, and injuries to his left arm and lower leg, as noted in a statement posted on X by Michael Ragusa, Giuliani’s head of security. The thoracic vertebrae are part of the spine.

State police said the cause of the crash was under investigation. No charges were filed.

Prior to the incident, Giuliani and Goodman were “flagged down by a woman on the side of the road, just south of Exit 9N, who informed them she had been involved in a domestic violence incident,” state police shared in a news release. Goodman alerted law enforcement, and he and the former mayor stayed at the location until troopers arrived.

The reported domestic violence and crash were believed to be unrelated, investigators said.

“Thank you to all the people that have reached out since learning the news about my Father,” Andrew Giuliani, Rudy Giuliani’s son, wrote in a post on X. “Your prayers mean the world.”

The onetime Republican presidential candidate was dubbed “America’s mayor” in light of his leadership in New York after the Sept. 11 attacks in 2001.

Giuliani later became President Donald Trump’s personal attorney and was a vocal proponent of Trump’s allegations of fraud in the 2020 election, which was won by Democrat Joe Biden. Trump and his backers lost dozens of lawsuits claiming fraud, and numerous recounts, reviews and audits of the election results turned up no signs of significant wrongdoing or error.

Two former Georgia elections workers later won a $148 million defamation judgment against Giuliani. As they sought to collect the judgment, the former federal prosecutor was found in contempt of court and faced a trial this winter over the ownership of some of his assets. He ultimately struck a deal that let him keep his homes and various belongings, including prized World Series rings, in exchange for unspecified compensation and a promise to stop speaking ill of the ex-election workers.