The passenger, Jerame Reid, had stepped out of the car raising his hands after his car was pulled over for rolling through a stop sign, when Bridgeton Officers Braheme Days and Roger Worley shot him to death.
The video shows that the conversation started off friendly but took a turn for the worse as Officer Days suddenly stepped back and pulled his gun, asking the driver and passenger to show their hands, and telling his partner that there’s a gun in the glove compartment.
The driver, Leroy Tutt, is seen showing his hands atop the open window on his side of the car. It's not clear what Reid was doing, but Days repeatedly warned him not to move.
"I'm going to shoot you," Days shouted. "You're going to be f-- dead. If you reach for something, you're going to be f-- dead."
Days then told his partner, "He's reaching for something."
A few seconds later, Reid got out of the car with his hands up and empty. The officers fired at least six shots killing him.
After the shooting, people are heard shouting and other police and emergency vehicles arrive.
Tutt follows officers' commands, gets out of the vehicle and calmly lies down on the street.
The shooting has sparked several protests in New Jersey.
Activists have urged that the case gets referred to the state attorney general since Reid was unarmed.
"The video speaks for itself that at no point was Jerame Reid a threat and he possessed no weapon on his person," said Walter Hudson, chair and founder of the civil rights group the National Awareness Alliance. "He complied with the officer and the officer shot him."
Hudson said Days had options other than firing his weapon, but "he didn't take the other options."
Reid, 36, had spent about 13 years in prison for shooting at New Jersey State Police troopers when he was a teenager. He was also arrested last year on charges including drug possession and obstruction; Days was one of the arresting officers then.
Both officers have been placed on administrative leave while the Cumberland County Prosecutor's Office investigates the case.