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An autorickshaw was also stuck in the underpass, they said.
According to the officials, no one was injured in any of the incidents as rescue teams quickly reached the spot.
The water is being pumped out, an official said.
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The Minto Bridge underpass is infamous for waterlogging during monsoon. In July 2020, a man drowned after his mini-truck got stuck in the underpass.
Rains lashed Delhi on Tuesday morning, leaving large parts of the city waterlogged and disrupting traffic movement.