A driver was killed and an officer was critically injured in a police shooting at the end of a pursuit in Pasadena Friday afternoon.

The chase began around 3:10 p.m. near the corner of Walnut Street and Meridith Avenue, when officers tried to pull over a 2015 Mitsubishi Mirage for a vehicle code violation, Pasadena police said in a news release.

The driver failed to yield, leading himself and a passenger on a pursuit. Though the ordeal last 20 minutes before officers forced the vehicle to crash, police say they stopped chasing the suspect at times when his driving became too reckless.

The black four-door became wedged between two police cruises near the intersection of Corson Street and Allen Avenue about 3:30 p.m. An exchange of gunfire ensued, but investigators have not said who fired the first shots.

Both the driver and a police officer were struck. The suspect died at the scene, officials said.

Aerial video from Sky5 showed a bloodied and motionless male on the ground. The body was still at the scene about three hours later.

The officer was in serious condition Friday evening after undergoing surgery for a gunshot wound to his leg, police said.

Three firearms were found inside the suspect’s Mitsubishi, according to authorities.

Police are continuing to investigate the deadly incident, and no further details were available.