The New Jersey Office of the Attorney General is investigating a police-involved shooting that left one man shot and two police officers injured.

Authorities say that two of the men involved in the investigation were from Queens. They were allegedly in a vehicle stolen out of Connecticut, according to officials.

A video captured by the surveillance cameras of a nearby bodega shows the moments two Newark police officers face off with two men before gunfire erupts. According to the Attorney General's Office, this all went down just after 8:30 p.m. Monday Officials say that two Newark police officers noticed a reportedly stolen SUV near the intersection of Hawthorne Avenue and Clinton Place.

Officials say there was a man sitting in the passenger seat when the officers approached the vehicle. Shortly after, another man came out of a nearby store and got in the driver's seat and when police tried to detain him, a struggle ensued. The vehicle went backward, then forward across the street. That's when an officer fired his service weapon and struck the driver. The vehicle then hit a police cruiser, a parked car and the side of Hawthorne Avenue School.

Two police officers suffered minor injuries. They were treated at University Hospital and have since been released.

The driver is in critical but stable condition, according to officials.