Trapezoid shape craft with 5 lights hovering and no engine sound in Piscataway, NJ

I was walking with my husband’s cousin to the corner store to pick up some items. When we came out of the store we saw a trapezoid shaped craft with 5 lights. It was hovering right over us on the road and seemed so close. We could not hear an engine at all. I thought it was going to fall on top of us, so we started running. We were so scared and this is something we’ll never forget. I was about 33 at the time and his cousin about 17. I should have reported it at the time but it seemed so incredible. It still shakes me up to even write this encounter.