NEW YORK (CBSNewYork) — The NYPD has released new body cam video of a deadly police-involved shooting.

The confrontation happened on Sept. 17 in the Stapleton section of Staten Island.

READ MORE: Police: Man Stabbed In Head With Machete After Argument At Walmart In Kearny, N.J.

Officers were trying to arrest 39-year-old Gregory Edwards on a prior domestic complaint.

The NYPD says Edwards resisted arrest, and one officer tried using a taser.

READ MORE: Some Real Estate Agents Report Surge Of New Yorkers Moving From Manhattan To The Bronx

Investigators say Edwards then pulled a gun from his jacket and fired two shots, hitting one officer in her left hand.

Another officer fired three shots, killing Edwards.

MORE NEWS: Reopenings Continue On Broadway As 'Moulin Rouge! The Musical' Resumes Performances

Officer Vanesa Medina was released from the hospital the next day.