Prosecutors filed criminal charges Friday against a woman who police said led them on a pursuit while naked and with her children in her vehicle.

They charged Khaihilah L. Woodson, 24, of Kansas City, with two counts of endangering the welfare of a child, resisting or interfering with arrest, driving while intoxicated and operating a motor vehicle while her license was revoked.

The incident began when police got a call that a woman was running around naked at an apartment complex near East 12th Street and Woodland Avenue, they said.