The mishap occurred when Yogesh Bhoyar (45) was returning in the auto, along with his wife Vasudha (35), daughter Tanishka (10) and family friend Suresh Yadav (40), towards the city.
"The accident occurred at an old bridge, situated close to the town, when they were returning after performing some religious discourse at Sheonath river," ASP Sashimohan Singh said.
He said Yogesh lost control over the auto while negotiating a turn on the bridge, and it fell off in the river.