PAJU -- A South Korean soldier has died after a tank plunged from a bridge during a joint drill with the United States, the military said Sunday.

The tank fell under the bridge at a training field in Paju, north of Seoul, on Saturday at around 12:30 p.m. on its way to an assembly point after a morning exercise, according to the military.

The sergeant first class, whose identity was withheld, was serving the role of tank commander when the incident took place during a small unit training, it said. A driver and an artilleryman who were also on board were not severely injured.

The military is investigating the details of the incident. (Yonhap)