According to a report from the Collision Reconstruction Unit (CRU) of the Lexington Police Department, Steinforth was hit by a car as he crossed outside of a crosswalk and did not yield the right-of-way to traffic on New Circle Road at Bryan Avenue during the evening rush hour.
The CRU report said Steinforth was standing on the median and tried to cross the road before traffic had come to a stop.
The CRU report said the driver of the car was not hurt.
The CRU report said speed and alcohol did not appear to be factors in the collision.
The road was shutdown for about two and a half hours for cleanup and investigation. It reopened around 7:30 p.m.