The New Jersey Office of the Attorney General released radio recordings and video footage from a deadly police-involved shooting in Newark earlier this year.

The shooting happened on Jan. 19. Wali Bey, 42, was fatally shot during an encounter with police officers.

Authorities say that a Newark police officer with the department’s Quality-of-Life Unit was conducting surveillance near Ross and Thorne streets when he saw “suspected narcotics activity.” The officer radioed in a description of the suspects and their vehicle – including a white Chrysler.

Officials say that when the officer arrived a few minutes later, they detained two people near the Chrysler and ordered the driver – later identified as Bey – to put his hands on the dashboard. They say that Bey started to reverse, which is when Officer Nashid Reynolds ran to the Chrysler, put his hand on the hood, and ordered Bey to stop.

Officials say that Bey started to move forward, which is when Reynolds fired his gun, striking Bey and a passenger.

The Chrysler drove away and crashed into a parked car a short time later. Bey later died at the hospital. The other passenger was treated and released.

Bey’s family has been critical of the shooting and say that they believe he was unfairly targeted.

"Everyone that was involved, we need them off the force. No pension, nothing. Nothing. It's not going to bring my brother back, but we need justice," said Bey's sister, Reta Bey, previously told News 12.

Bey’s family told News 12 they were prepared to go to the state level to get justice.