ORLANDO, Fla. -

Two Orlando bank robbery suspects were arrested after a witness helped police track them down, according to authorities.

Orlando police said the robbery happened Monday afternoon at the BB&T Bank at 3101 Corrine Drive.

Police identified the suspects as James Kirk and Daniel Pace and say the duo entered the bank just before 4:30 p.m.   One of them passed a note to the teller demanding cash, authorities said.

The teller told investigators that the suspect raised his shirt and displayed a handgun as he was reading the note.

Police said a witness in the area observed the suspects as they left the bank in a four-door white sedan and decided to follow them.

The witness then called authorities and told them where the vehicle was headed.

Police said they found one of the men inside a home that he entered through a doggie door.

"That's pretty unique, you know, to crawl through the doggie door to get away," said Orlando police Sgt. Vince Ogburn.

On Monday night, detectives interviewed the suspects and positively identified them using their fingerprints.

Kirk and Pace have been charged with armed robbery, possession of a firearm by a convicted felon, aggravated assault with a firearm and grand theft.

Kirk's sister, Alicia Harris, says convicted felon Pace is a bad influence on her brother. "It wasn't just him, the other boy, too. He is a follower, that is what he is," she said about her brother, "I've never seen that side of him."

Police said no one was injured in the robbery.