The man then allegedly took the grocery truck on a joyride through South Perth, confronting two civilians along the way.

Police tracked down the truck in Greenfields near Mandurah around 6am, where they arrested the man after he allegedly failed to stop and attempted to evade police.

The driver has since returned to his home and will take some paid leave as he recovers from the frightening incident.

Read Related Also: Cambridge photographer who took a picture of his beloved home city every day for 13 years reveals his favourites – from ordinary everyday scenes to spectacular college balls

“We are very grateful that our driver is safe and we’ll continue to support him following this frightening incident,” a Woolworths spokesperson told 9News.com.au.

“We are assisting police with their investigations.”

The Maddington man now faces nine charges, including aggravated armed robbery and unlicensed person possess firearm/ammunition, and is due to appear in court at a later date.