Police say Cardinal Orani Joao Tempesta was travelling in a chauffeur-driven vehicle with two friends when the attack occurred on Sunday.

The thieves made off with the vehicle.

Brazilian media say the cardinal was returning from Mass when the carjacking took place.

Sunday's was the second armed attack against Cardinal Tempesta in the past year.

In September, three armed men stopped his car and stripped him of his cellphone, a crucifix and the cameras of a photographer travelling with him.

Most of the stolen items were later recovered.

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