Authorities have released police dashboard and body camera video from a police chase that ended in Cranford police fatally shooting a man.

Officials say that 40-year-old Kevin Harlfinger, of Perth Amboy, stole a work van and then led police on a chase that ended on the Garden State Parkway.

The incident happened on Dec. 28. The videos released by the New Jersey Office of the Attorney General show the white van bobbing and weaving past other vehicles on the southbound side of the highway before spinning out near Exit 131 in Cranford.

Cranford police officers could be seen running toward the van just before Harlfinger popped out of the driver’s side window and began shooting at the officers. Those officers fired back and Harlfinger was killed.

Officials say a gun was found near Harlfinger’s body.

Officer Christopher Folinusz was shot in the arm during the encounter but survived.