The NYPD has released body camera and helicopter video showing the moments leading up to an officer-involved shooting on East Fordham Road last month.

Police officers began tracking a stolen vehicle after it crossed the George Washington Bridge. Using license plate readers and aerial surveillance, investigators followed the car to East Fordham Road on June 21, according to the NYPD.

Driver Jayden Mendoza, 18, attempted to park before officers in unmarked vehicles surrounded the car, according to the police report. Investigators say Mendoza refused commands to get out, backed into an NYPD vehicle and then accelerated, striking Sgt. Yousef Abdalla. Officer Nicholas Gluth then jumped onto a nearby vehicle to avoid being hit.

Body camera footage released by the NYPD captures Gluth repeatedly ordering Mendoza to exit the vehicle before warning, “I will shoot you.” Moments later, three shots were fired.

Police say Mendoza survived the shooting and was later charged with attempted murder and several other offenses. Officers also discovered a passenger, identified as 20-year-old Angel Robles, who investigators said was carrying a loaded firearm.

Robles was arrested at the scene and charged with criminal possession of a loaded firearm.

The NYPD says it will conduct a departmental investigation to determine whether the officer’s use of deadly force was justified.