A man was arrested Friday night after allegedly driving while impaired, with two young children in the back seat of his SUV.

Luke E. Steensen, 30, was booked on charges of child endangerment and driving while under the influence causing child endangerment.

Charging papers say a police officer was doing paperwork in the Kmart parking lot when he heard a vehicle go past at a high rate of speed. The officer reportedly watched the vehicle, a Chevrolet Suburban, make an abrupt, wide turn and fail to stop when entering the roadway.

The officer stopped the SUV in a parking lot and spoke with the driver, Steensen. In the middle row of passenger seats was a half-empty 12-pack of Bud Light, and Steensen allegedly admitted to drinking two beers "a while ago."

Two young children were in the back seat of the SUV.

Steensen wasn't wearing any shoes. He told police he left them at home.

According to an affidavit, Steensen performed poorly on standardized field sobriety tests. He reportedly attributed at least some of his alleged poor performance to prescribed medication he had taken earlier in the day.

Police judged Steensen to be too impaired to drive and arrested him for DWUI. An officer allowed him to say goodbye to the children before putting Steensen in the back of a patrol car.

Another officer called Steensen's wife, who sent a family friend ot pick up the children.

Steensen's blood-alcohol content is not noted in court documents. Authorities are awaiting the results of a blood sample provided by Steensen.

Steensen was previously convicted on DWUI in February 2007 and January 2010, charging papers show.

He will likely make his initial appearance in Natrona County Circuit Court on Monday.