WAGONER, Oklahoma - Video released Monday shows a Wagoner police officer shooting and killing an unarmed suspect in June.

Officers say the man led them on a high-speed chase, and when it ended, the man did not follow commands.

Wagoner police officers say on June 7, 25-year-old Andrew Henson drove off during a routine traffic stop, leading police on a 20-minute chase across Wagoner.

Officers say Henson rammed one of the patrol cars and clipped it, causing his own car to flip, ending the chase. But, instead of coming out with his hands up, officers say Henson pointed his hand in the shape of a gun, saying, "You're going to have to kill me."

Thinking it was a real gun, Officer Robert Reynolds shot and killed the suspect.

"Mr. Henson failed to comply with the commands he was given and he reacted to what he perceived," said Chief Bob Haley.

Investigators later found no weapons on Henson.

Haley said Henson had a felony arrest warrant for burglary out of Mississippi. He said Henson tried to hurt officers with his car and nearly crashed into several civilians during the chase.

A memorial created by Henson's family and friends marks the spot where officers say the high-speed chase ended, near SW 13th and Polk.

Cynthia Crawford lives right next to the lot and said she saw the shooting unfold from her window.

"I ain't never going to forget this,” she said. “I visit him almost every day, or every other day. I come and plant those flowers down there for him."

Homeowners say the incident shook up their quiet neighborhood; but people like Bailee Yoder said they trust officers to the fullest extent.

"I don't second-guess them at all," Yoder said.

Reynolds is on administrative leave while OSBI investigates the shooting.