Newly released body camera footage shows the tense moments that led to a New York’s man’s death at the hands of police.

The Sullivan County incident happened in the town of Thompson, on Rock Hill Drive, at around 2:20 a.m. on Tuesday, July 16.

New York State Police said troopers were pursuing 32-year-old Orange County resident Albert Melendez, of Middletown, when Melendez stopped and attempted to turn around at the intersection of Rock Hill Drive and Emerald Place.

A trooper exited his patrol vehicle and ordered Melendez to stop, but he continued driving forward and struck the trooper, according to police. The trooper then shot Melendez, who later died at Garnet Health Medical Center in Middletown.

The trooper involved in the incident was treated at the same hospital for minor injuries and released.