Witnesses told police they saw a man in a 1999 Dodge SUV driving "donuts" near the Gashouse Cove Marina at about 3 a.m., San Francisco police Sgt. Michael Andraychak said.
The vehicle jumped the curb and plunged into the San Francisco Bay, Andraychak said.
The driver and his three passengers -- who were 17, 18 and 19 years old -- escaped the vehicle without injury, though they were shivering from exposure to the water and cold morning air, Andraychak said.
The driver, Agatito Hernandez, was arrested for child endangerment, reckless driving, driving without a license, driving without insurance and providing false information.
The vehicle was towed from the water at about 9 a.m. Sunday morning.