An alleged drunken driver was arrested after a crash in Sauk County Sunday that killed a motorcycle driver and critically injured a motorcycle passenger, authorities reported.

Benjamin Brooks, 27, of Baraboo, died on Monday from injuries suffered in the motorcycle-SUV crash that happened at about 9 p.m. Sunday on Steinke Road in the town of Baraboo, the Sauk County Sheriff's Office said in a news release.

Kevin Vaness, 22, of Baraboo, was arrested on a tentative charge of operating a motor vehicle while intoxicated, causing injury. (The arrest was before Brooks died.)

Brooks and passenger Tory Frenzel, 23, of Baraboo, were taken to University Hospital in Madison by medical helicopters after the crash. Frenzel was listed in critical condition at the hospital on Monday.

The investigation showed Brooks was driving east on Gall Road and had stopped at the intersection with Old Lake Road, when the motorcycle was rear-ended by a Jeep driven by Vaness, according to the release.

"The motorcycle was pushed through the intersection onto Steinke Road, causing the driver and passenger to be thrown off the motorcycle," the release said. "The Jeep continued through the intersection, leaving the road before striking a driveway retaining wall."

(Gall Road and Steinke Road are the same road. It is Gall Road west of Old Lake Road and Steinke Road east of Old Lake Road.)

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Bill Novak is a general assignment reporter for the Wisconsin State Journal.