Two men have been arrested after a high-risk, two-hour police pursuit in western Sydney which led to police shooting at a car and using a Taser on a driver.

Police say the pursuit was sparked after a man was seen swapping number plates on a black Holden Commodore sedan in Lalor Park about 8.15am on Thursday.

The car was then spotted about 9.30am and a pursuit began when the driver failed to stop as directed, NSW Police said. 

As the car sped east through multiple suburbs, Traffic and Highway Patrol Command and PolAir were called in to help.

A senior constable who attempted to grab the slowing vehicle about 10.40am was flung across the bonnet of a nearby police car when the driver accelerated, the force said. 

Police fired shots towards the sedan before it was driven onto the motorway.

A short time later, a 21-year-old man who jumped out of the car was arrested while the driver continued onto the M4 and the Great Western Highway.

Road spikes were deployed unsuccessfully about 11.15am as the car continued to travel west.

Specialist operatives conducted a high-risk vehicle stop about 11.40am, stopping the vehicle at Katoomba in the Blue Mountains. 

“The operatives deployed a Taser to effect the arrest of the driver, also aged 21,” a police statement read. 

“The man was assessed at the scene by NSW Ambulance paramedics before being taken to Katoomba Hospital, where he remains under police guard.”

The passenger was taken to Blacktown Police Station, where he is being questioned.

The senior constable from the Raptor Squad was assessed by paramedics but did not require treatment and has returned to duty.