Authorities on Friday evening released body camera footage showing last month’s fatal police shooting of Andrew Washington in Jersey City, N.J., after weeks of public calls for more transparency on what happened that day.

In late August, family and neighbors of Washington reported he’d been acting erratically and hadn’t been seen for several days. Washington’s aunt said he had been diagnosed with bipolar disorder at a young age. Police and emergency personnel showed up at his apartment in the Bergen-Lafayette section of the city and attempted to coax him out, but ended up fatally shooting him after a brief scuffle.

Since then family and supporters have been demanding to see footage of the incident.

Videos released by New Jersey Attorney General Matthew Platkin’s office show Jersey City’s Emergency Services Unit arriving at Washington’s home at around 2:56 p.m. on Sunday, August 27th, after first responders call for backup.

According to information provided by Platkin’s office, the family first called for emergency medical services for help with Washington, 52, who was refusing to open the door to his apartment and appeared to be in the middle of a mental health crisis. Responders then requested help from the Jersey City Police Department who were unable to get Washington to comply and open the door to his apartment.

The body camera video recording started when officers from the Emergency Services Unit — which is trained in de-escalation — arrived and set up outside of Washington’s door, ready with shields and gear to break it down.

For more than 30 minutes, Officer Stephen Gigante is heard pleading with Washington, who was inside his apartment with the door locked, and who continued to demand that officers leave the building.

Gigante, along with other officers at the scene, seemed to know Washington and referred to a prior incident when they were able to get him to comply with them.

“Remember us? I’m willing to work with you. How can we help you out today?” Officer Gigante said. “I know sometimes people feel intimidated with the police at their door but we are just trying to help.”

“I am not your slave! I am not your slave!” Washington can be heard yelling back.

Another officer leaves to retrieve a taser from a patrol car. At this point, an onlooker who had their face blurred in the video says, “You know, just tase him. Don’t shoot him,” with a nervous laugh.

Back outside Washington’s apartment door, officers say they hear him continuously coughing and ask if he needs medical help. He can be heard saying “shooting” and “suicide,” though not in an audible sentence.

After some back and forth and periods of silence, Gigante breaks down the door, 32 minutes into the standoff.

At that moment, Washington, who was right near the door, runs toward the officers with what appears to be a knife in his hand. Officer Felix DeJesus fires the Taser, striking Washington, and Gigante says he shot Washington twice, though it’s not clear from the video.

After Washington is down, Gigante continues to tell him to stop moving and to drop the knife. The video recording ends when Gigante calls EMS for medical assistance. “He’s been tased and shot,” he tells them.

Doris Ervin, Washington’s aunt, told Gothamist last month that he was diagnosed with bipolar disorder at around 26-years-old.

Ervin called medical services on Sunday after he'd been missing for a few days. One neighbor said Washington had been yelling a lot more at the time and was talking about alien attacks.

Ervin said she was first told her nephew was just tased, and believed he was being processed for psychiatric treatment. She didn’t learn until hours later that he had been shot and had died.

Ervin said she regretted calling for help that day.

“We were afraid for his well-being, and we really wanted him to get help because of his illness,” she said. “And I kind of feel bad now that we did. We should have just left it alone.”

This shooting is still under investigation and is being conducted under a state law that requires that the AG’s office look into any death at the hands of a police officer, and release any video or audio recorded by law enforcement to the public.