TEMPE, AZ (AZFamily) -- The Tempe Police Department released videos on Monday that show a road rage shooting over the summer that left a father dead in front of his 9-and 8-year-old sons and its aftermath.

Investigators said 46-year-old Dustin Jackson shot and killed 29-year-old Steven Bevan near Warner and Priest roads on July 1.

Jackson honked at Bevan when he didn't go through a green right turn light and after another light cycle, Bevan brake-checked Jackson about 400 feet from the intersection, police said.

One of Bevan's sons recorded part of what happened from the backseat of Bevan's Dodge Challenger. About 45 seconds into the video, Bevan is seen getting out of the Challenger and going to Jackson's truck, which was behind him on Priest Drive. "What!" Bevan is heard screaming as he walks toward Jackson, who is still in his truck.

Jackson opened his door, which an unarmed Devan touched. Devan then backed up, and one gunshot can be heard in the video. The video shows that Devan grabbed his chest, walked back to his car and then collapsed.

Bevan's other son, who is also in the car, is heard crying for his father.

A woman arrived and told the children to stay in the car. "Go in the car, OK? You need to get into the car. You don't need to see this," she said. "C'mon, get in the car, please. It's OK. Get in the car."

The boy picked up the phone that is still recording and the video shows Bevan on the ground, not moving, while a man is trying to get a hold of first responders. "Are you on the phone with 911? I can't get through!" asked a man. The woman is seen on the phone with 911.

"Who shot him?" said a son through tears. "Who shot my dad?"

"I feared for my life," Jackson is heard saying in the video.

"Please don't look," the woman told the sons before the four-minute video ended.

Jackson was arrested and booked into jail on multiple charges, but prosecutors declined to pursue the case. Jackson had claimed self-defense. He was indicted on drug charges.

Tempe police released bodycam videos of officers interviewing witnesses. One man described what the shooter did after the gunfire.

"That guy looked around and couldn't believe what just happened," he said. "That guy in the truck was out of that truck so fast and for a flat second, I was thinking, 'Oh my God, what's he going to do now?' But his disposition went 180 degrees. He realized what he had just done. He's grabbing his phone. He's trying to call for help. He's telling this guy on the ground he's got help coming."

Detectives noted that Jackson is 6'8'' and 300 pounds, while Bevan was 5'7'' and roughly 190 pounds.

Experts said that under the circumstances, it would be possible for a reasonable person to believe Bevan was reaching for a gun, even though he didn't have one.

New videos show deadly road rage shooting in Tempe