Home surveillance video captured both the images and sound of a drive-by shooting on a residential street in North Bay Shore on Sunday afternoon, leaving one person injured, according to Suffolk County police.

The footage shows multiple individuals exiting a car and firing a gun at a passing vehicle near the intersection of Stein Drive and Belgrave Avenue.

Police said one person was struck in the right hip. The victim was taken to a hospital with injuries not considered life-threatening after the driver of the vehicle flagged down an officer on 5th Avenue.

“The individuals who were shot at appear to know the ones shooting at them,” Suffolk Police Commissioner Kevin Catalina said.

The shooting occurred just hours after a Puerto Rican Day parade was held nearby. Authorities said they are investigating whether there is any connection.

Residents in the neighborhood described a chaotic and frightening scene as gunfire rang out.

“We were in the backyard, we were with all the kids when we heard the shooting,” one resident said.

Police said at least two bullets struck a nearby home. A family living there, who asked not to be identified, said one round hit a wall near where their 3-year-old daughter typically sleeps.

Authorities said they have increased patrols in the area as they search for the suspects.

“Quite frankly, the people who do stuff like that have no regard for human life. And until they’re off the streets, I won’t rest easy,” Catalina said.