What to do
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If you are the driver, you need to pull over to the right of the road (do this safely so you don't put anyone in or out of the car in danger).
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Then, roll down your window so that the officer can easily see and talk to you. You can choose to put you hands on your steering wheel. Although this is not required, it makes you look less suspicious and you gain a bit of trust from the police officer.
What you can do
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Many of you have most likely heard the phrase: "you have the right to remain silent." What this means is that everyone that is in the car can choose to not speak.
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If the officer asks you to do anything, just do it! This makes you look less suspicious as well and it is always better for you to follow the officer's directions.
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You can also make a phone call to anyone in your area code. The only time the police officer is not allowed to listen to your call is if it is to your lawyer.
What the officer can do
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If the police officer finds something suspicious about you, he/she has the right to briefly search your outer clothing (similar to the airport security).
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The police officer can also search the seating of both the driver and the passengers if there is any suspicion.
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The police officer also has the right to ask everyone in the car to get out.