An arrest is the taking of a person into custody in the cases and in the manner authorized by law. It may be made by a peace officer or by a private person. An arrest shall be made by an actual restraint of the person of the defendant or by his submission to the custody of an officer. The defendant shall not be subjected to more restraint than is necessary for his arrest and detention, and he shall have the right to communicate with or to be visited by counsel or his closest relative.