Relatives of a man killed during a police-involved shooting in Asbury Park gathered outside City Hall to protest a death they say was "senseless and avoidable."

Police responded to a domestic dispute call in the city in August. Officers negotiated with 39-year-old Hasani Best.

Police body cam video shows Best threatening an officer before police fired two rounds of gunfire at him. Best died at Jersey Shore Medical Center shortly afterward.

"They didn't have to take his life," says Best's mother Carol Sanders. "They were laughing and joking one minute and then shot him through the door."

Residents are calling for the Asbury Park City Council to consider a civilian review board for the city's police department.

Relatives also say Sgt. Sean DeShader, the officer who pulled the trigger, charged with murder.

The state Attorney General's office is investigating whether the use of force was justified.