Nassau police were involved in a fatal shooting in Queens Tuesday afternoon.

The shooting took place at 217th Street and Linden Boulevard, near the Nassau/Queens border. Sources say it started with an alleged carjacking in Nassau County.

A silver car could be seen slammed into the side of a restaurant in the Cambria Heights section of Queens.

Laron Josephs captured the scene and shared cellphone video with News 12.

"We left McDonald's we heard a big bang ... a few shots," says Josephs. "We see everybody running towards the situation. I thought maybe someone got hit by a car or something, but that wasn't the case at all. I saw the bullet in the door. I didn't see anybody inside the car but by the time I got to really look - I see them pulling the person out the car. The person was dead."

No officers were injured, sources say.