ANNAPOLIS, Md. (AP) -- A friend who was a passenger in a car driven by a man who was killed in a road rage incident described how a police detective shot his friend.

(Eduard Titov, ThinkStock)

Adam Pidel testified Tuesday that he and Joseph Harvey froze when Joseph Walker, pulled a gun on them after the two drivers pulled over following some traffic jostling.

Walker, an investigator for the Hudson County, New Jersey, prosecutor's office, is charged with first-degree murder trial in Harvey's shooting death on June 8, 2013, in Millersville.

Jurors heard Pidel's 911 call after Harvey was shot.

Walker's lawyers have said their client thought he, his wife and three children were in danger when he fired his gun.

The trial will continue Wednesday in Anne Arundel County Circuit Court in Annapolis.

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