According to National Centre for Seismology, the epicenter of the quake was Pithoragarh in the state and it struck around 23:30 PM at the depth of 15 km.
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According to reports, tremors were felt across Haryana and the National Capital Region.
People, especially those living in high-rise apartments and buildings, rushed to the ground floor.
Tremors were felt at various places in Haryana including Gurugram, Faridabad, Rohtak, Ambala, Panchkula, Sonepat, Panipat and Karnal.
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In Punjab, tremors were felt at many places including Mohali, Patiala, Ropar, Ludhiana and Jalandhar.
"Bed started shaking and the ceiling fan was swinging a little," Sohil Sharma, a resident of sector 20 in Noida, said.
"I was lying on bed suddenly it started shaking," said Savita Gupta, resident of sector 21.