A Madison juvenile is in custody after stealing a vehicle and driving at high rates of speed through the city of Madison Wednesday morning.  Madison Police report that a 16-year-old juvenile allegedly stole a car in the city and was first observed traveling well over the speed limit on Northwest 3rd Street, down Blanche Avenue, and then onto Northwest Second Street before speeding south on Egan Avenue just after 6:00 on Wednesday morning.  As police pursued the vehicle, the juvenile driver proceeded to go through several stop signs and eventually the intersection of South Egan and the south Madison bypass into a private driveway on the south side of the road.  Police say when the officer caught up with the vehicle it was found parked against a tree at the residence and the juvenile had taken off on foot.  Through their investigation, police found that the vehicle had been stolen from South Harth Avenue and arrested the 16-year-old responsible on Wednesday afternoon.  Charges against the juvenile are pending.