Rudy Giuliani has been released from the hospital and “is progressing well” after being injured when the vehicle he was riding in was struck from behind on a highway in New Hampshire, a spokesman said Tuesday.

The former New York City mayor, 81, was injured Saturday shortly after stopping “to assist a person in urgent need of help,” spokesman Ted Goodman said in a statement.

“He has since been discharged from the hospital and deeply appreciates the love, well wishes, and prayers he has received,” Goodman’s statement said. “The mayor also extends his gratitude to the New Hampshire State Police, paramedics, Elliot Hospital, and all of the physicians and nurses who provided him with outstanding care.”

Goodman was behind the wheel, with Giuliani as a passenger, when their rented Ford Bronco was struck from behind on Interstate 93 by a Honda HR-V driven by a 19-year-old woman, New Hampshire State Police said in a statement. Both vehicles hit the highway median and were “heavily damaged,” the statement said.

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

Giuliani was taken by ambulance to a nearby trauma center for treatment of a fractured thoracic vertebra, multiple lacerations and contusions, as well as injuries to his left arm and lower leg, according to 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 accident, Giuliani and Goodman were “were flagged down by a woman on the side of the road, just south of Exit 9N, who reported to them she had been involved in a domestic violence incident,” state police said in a news release. Goodman reported the incident to law enforcement and he and the former mayor remained at the scene 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.