WISN-TV reports that the pilot declared an emergency while approaching the airport around 12:45 p.m. Sunday. Officials in the airport tower called 911, and Waukesha police responded to the scene.
The two people on the plane received minor injuries when it landed about 1 mile northeast of the airport. Their names were not released.
The plane, a 1976 single-engine Piper, is registered to the Waukesha-based Fox River Flyers Club.