A Hudson Valley community is in mourning after a 6-year-old boy and his mom were hit and killed by a school bus while they were walking to school in Mamaroneck on Thursday.

It happened at the corner of Mamaroneck Avenue and New Street.

"I was crying, my heart just broke. It was just very sad," a woman who lives close to the accident told News 12.

"I just started shaking," says Nicholas Zamora. "It freaked me out, it just startled me," says Zamora.

He witnessed the fresh aftermath of what police are calling a very tragic accident.

"The child was pronounced dead at the scene, the female was taken to the hospital for further treatment where she later succumbed to her injuries," says Mamaroneck Police Chief Sandra Diruzza.

Police say a smaller school bus was turning at a green light when the driver hit the child and his mom. They were using the crosswalk when it happened. Police say they did have a walk sign.

The bus was heading to Mamaroneck Avenue School, and there were kids on board. They were not hurt, according to officials.

Police say they will be working with the mayor and other traffic consultants to figure out a plan to make the streets safer.

No charges are currently pending against the school bus driver involved. Police say they are looking through security footage and still have a lot to investigate.

Counseling services will be available starting at 8 a.m. Friday for students at Mamaroneck Avenue School.