An out-of-control bus plowed into a Midtown Manhattan building Thursday evening, taking out a scaffolding with it in a wreck that injured one and sent New Yorkers fleeing for safety, according to authorities.

The Coach USA bus barreled onto the sidewalk on East 41st Street between Lexington Avenue and Park Avenue around 4:35 p.m., the FDNY and NYPD said.

The bus was traveling eastbound on 41st Street when police said “it lost control” and smashed through the scaffolding and into the Midtown tower, cops said.

The crash caused a series of deafening booms as the scaffolding collapsed, sending people on the sidewalk running, a witness who works in the building told The Post.

“I was coming into work… And as I was walking, I was looking at the [bus driver]. I was like, ‘Why is he driving like that?’ Like, he’s doing like a weird maneuver,” Michael Jimenez, 40, said.

“And then I’m watching him, and then all of a sudden everything starts falling, ‘boom, boom, boom, boom, boom, boom, boom, boom.’ You hear a loud scream, and then that was it.”

Jimenez said it looked like the bus driver was “trying to fix the way he was parking,” but apparently “went the wrong way.”

The wayward bus drove right into a large garage door to a loading dock, according to photos of the wreck and an officer at the scene.

Jimenez added that he’s “scared” for the driver and “hopes they are OK.”

One person was transported to Bellevue Hospital, though their exact injuries are unclear, according to fire officials.

No passengers were on the bus when it mowed through the building.

Witnesses in a building overlooking the crash shared an aerial view of the wreck. The front half of the bus was on the sidewalk while the end stuck out into the road, according to the video shared online.

“Yo, that s–t’s in the building!” one person could be heard saying in the background of the video.

Charlton D’souza, the president of Passengers United, told The Post that the bus involved in the crash was a Coach USA Bus affiliated with the Newark Airport Express.

He explained that the crash site was the “first pickup point” on a route that took passengers to Newark Liberty International Airport.

The bus driver was a man in his 30s, according to cops. An investigation into the crash is ongoing.

In a statement obtained by The Post, a representative for Coach USA said the company was looking into the incident and assured that “no pedestrians or any others were injured.”

“Our top priority is the safety and wellbeing of our customers, team members and those we share the roads with,” the company said.