TULSA, Oklahoma - The family of 40-year-old Terrence Crutcher, who was shot and killed by Tulsa police Friday night, is calling for the police department to release any unedited video of the shooting.

The details surrounding the shooting of Crutcher are still limited.

Police say he refused commands and tried to get something from his car, leading them to shoot Crutcher with a Taser before fatally shooting him with a gun.

Police say Friday night, shortly before 8, officers were on their way to another call.

Tulsa police officer Jeanne Mackenzie says when they came across a vehicle that was stalled in the middle of the road with a man, now identified as Crutcher, standing nearby, police walked towards the car, telling Crutcher to show his hands. Police say Crutcher started towards them; they asked him to show his hands. But police say he kept refusing orders.

“They continued to talk to him,” said Tulsa police officer Jeanne Mackenzie. “He continued not to listen, to follow any commands.”

That's when police say Crutcher reached back into the car and an officer fired a Taser at him.

It's unclear what happened next, but for some reason, a police officer pulled out a gun.

"And then a short time later there was one shot fired," said Mackenzie says.

Crutcher was taken to a hospital where he passed away. 

Following the officer-involved shooting, Crutcher's family attorney released a statement saying, "This is an extremely sad and serious situation as Terrence was a beloved father, brother, son, and friend."

They say they've contacted a national civil rights attorney and plan to do their own independent investigation.

But went on to say they are: "Calling upon the Tulsa Police Department to immediately release any and all unedited dash-cam footage. Additionally, we are asking anyone who witnessed and/or videotaped this shooting to call my office [at 918-587-3161]."

Police believe the officers acted in the best interest of the public's safety.

"It's a fast-moving situation,” said Mackenzie. “We don't go ‘this is step one, this is step two, this is step three.’ We go for what officer safety, citizen safety."

The shooting is still under investigation. The officer who fired the shot has been placed on administrative leave. 

Tulsa police chief Chuck Jordan says he will hold a press conference on Monday to discuss the officer-involved shooting.