The Riverside County (CA) Sheriff's Department has released a video debriefing of the fatal shooting of a 41-year-old man in January following a vehicle pursuit.

According to the sheriff's department, the incident began with a call of a man brandishing a gun during a domestic dispute, reports CBS News.

Deputies say as they arrived the man fled in a pickup truck. During the pursuit, the department said deputies were able to visually confirm that the man was armed with a handgun. The pursuit ended as police performed a PIT maneuver.

According to the sheriff’s department, the man—identified as Troy Matthew Sullenger—then exited the truck and shot at responding deputies, who then returned fire, killing the gunman.