Members of the Waukesha, Wisconsin, community gathered at a candlelight vigil Monday evening to honor the victims who were killed and injured at the Christmas parade the day before.

Hundreds of people gathered at the event, which was hosted by the Association of Waukesha Congregations, the Brookfield-Elm Grove Interfaith Network and the Interfaith Conference of Greater Milwaukee.

The identifies of the victims are continuing to be released.

Darrell Brooks, the suspect accused of driving into a Christmas parade on Sunday, killing five, was arrested earlier this month for using a 2010 maroon Ford Escape to run over the mother of his child, according to court documents.

This appears to be the same vehicle used to plow through the parade.

In early November, a woman told police Brooks had pulled up beside her following an earlier domestic dispute and instructed her to get into his car, the documents said. When she refused, Brooks hit her in the face with a closed fist, according to the criminal complaint.

As she walked away through a gas station parking lot, Brooks “intentionally” ran her over with his car, the complaint said.

Brooks, 39,  is set to make his first court appearance on Tuesday in connection to Sunday's incident. He is charged with five counts of first-degree intentional homicide, police said.

-ABC News' Aaron Katersky

An 81-year-old man, Wilhelm Hospel, and a 79-year-old woman, Virginia Sorenson, were among the five killed, police said at a news conference. The other victims were 71-year-old LeAnna Owen, 52-year-old Tamara Durand and 52-year-old Jane Kulich.

The suspect, 39-year-old Darrell Brooks, is charged with five counts of first-degree intentional homicide, police said. More charges are possible, police said. He's set to make his first court appearance on Tuesday.

The suspect was involved in a domestic disturbance minutes prior to the deadly crash, police said.

Besides the five killed, 48 were hurt when the suspect "intentionally drove his maroon SUV through barricades into a crowd of people," police said.

One officer fired shots to try to stop the driver, but stopped shooting because so many parade-goers were present, police said. No one was hurt by the gunfire and the officer is on administrative leave, police said.

Police said the suspect acted alone and this was not a terrorist event.

Officials said this "Norman Rockwell-type Christmas parade" has been held for decades.

In his first comments on the deadly crash, President Joe Biden said Monday, "While we don't have all the facts and details yet, we know this morning that five families in Waukesha are facing fresh grief of a life without a loved one."

"At least 40 Americans are suffering from injuries, some of them in critical condition, and an entire community is struggling, struggling to cope with the horrific act of violence," Biden said.

"Last night, the people of Waukesha were gathered to celebrate the start of a season of hope and togetherness and Thanksgiving," he continued. "This morning, Jill and I and the entire Biden family, and I'm sure all of us, pray that that same spirit is going to embrace and lift up all the victims of this tragedy, bringing recovery from the injuries and wrapping the families of those who died in support of their community."

The administration is "monitoring the situation very closely," Biden added.

-ABC News' Sarah Kolinovsky