Circular light formation see by 4 people

At around 9 pm 3 friends and I were driving on highway 19 towards Randolf Minnesota, when one of my friends in the back seat says that he sees some weird stars. So of course we all checked it out and slowly realized that the “stars” were in a perfect ring formation. We drove a little bit more in the direction of the lights and stopped on a dark country road so we could get out and see better. What we all saw was a giant disc of individual lights hovering in the sky. As we were looking at it we could see that it was starting to move, but it made no noise whatsoever. I sadly didn’t get a picture because I couldn’t capture it on my phone.