BRONX, N.Y. - An investigation is ongoing after police officers shot a man during a confrontation in the Bronx Sunday night.

Officials say those officers witnessed the man trying to break into a car.

Investigators say two officers, who were wearing body cameras, approached the man on West 166th Street near Summit Avenue in Highbridge around 7 p.m. Sunday.

They say he had just broken the right rear window of a white BMW.

In video obtained by NY1, the man is seen on the ground underneath two cops next to a car, and is heard saying the vehicle belongs to him.

The man can be heard saying, "I know my rights, I know my rights, this is my vehicle."

Officials say he even took out a pair of keys that ultimately didn't work, and as police tried to take him into custody, things escalated.

"If you're not standing there, you don't see it. The suspect is armed with a gun, a 9 millimeter that he says quite clearly on the tape, 'I have a gun, die' to the officer and the officer stated the gun was pointed in his chest. The officer discharges his weapon, so when you watch from a distance, you're not seeing what's happening in that close quarter," said NYPD Chief of Detectives Terence Monahan.

Police say they recovered a gun from the scene.

The man was taken to the hospital for treatment to wounds to his torso and hip.

Neither officer was injured.