New Rochelle police have released body cam footage of an officer-involved shooting that happened Monday.

The footage shows the moments when three officers struggled with a man on Lincoln Avenue around 4:30 p.m. just before shots were fired. Investigators say they received a call from someone at a nearby store about a possible theft. They say the caller gave a description of the suspect.

Officers then found a man fitting the description walking on Lincoln Avenue near North Avenue. The officers tried to get the man out of the street and to place him under arrest.

A struggle ensued and the video shows the man's shoe came off. According to police, the man grabbed one of the officer's guns and tried to pull it from the holster. That's when one officer yelled "gun" and another officer shot the unnamed person.

The man was taken to the hospital. Police have not released the man's name or the officers’ names.

New York state police and the state's Attorney General's office are investigating the shooting.