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One man reportedly fled with a gun, and a short pursuit followed, police said.
A police patrol responding to the incident spotted the car leaving the scene and tried to stop it.
The fleeing vehicle then rammed the police vehicle, and was chased on to the northbound lanes of the Harbour Bridge.
At the top of the bridge the vehicle crashed and the man tried to escape on foot, however he was soon caught and arrested by police.
The Harbour Bridge was closed for about 20 minutes while police checked the area, as they initially believed more than one person may have been involved.
Police established that only one alleged offender was involved, and the bridge reopened at 9.15pm.
When the crashed car was searched, a revolver was found on the front seat.
No-one was injured, police said.
Samau has also been charged with failing to stop for police, assaulting a police constable with intent to obstruct him in the execution of his duty, operating a motor vehicle recklessly, unlawful possession of a revolver and resisting arrest.
Police opposed Samau's bail which went unchallenged.
He has been remanded in custody and is due to appear in Auckland District Court before a judge in February where he is expected to enter a plea to the six charges.