Authorities in Colorado released body cam footage on Thursday from a fatal shooting of a former sheriff's deputy just outside of office headquarters this past October.

The footage, which shows the former deputy appearing to reach for a handgun that was on his lap as he sat in the driver's seat of a car, appears to support the district attorney's determination that the shooting was justified.

On the night of October 29, former Arapahoe County Sheriff's Deputy Mark Bidon parked in front of the exit to the employee parking lot.

In surveillance footage released this past week, a deputy noticed Bidon parked there, went to speak with him and saw he had a gun.

Bidon had drove his car toward the exit gate of the parking lot just outside of the sheriff's office headquarters, according to Fox 31 TV.

Authorities in Colorado released body cam footage on Thursday from a fatal shooting of a former sheriff's deputy just outside of office headquarters this past October. Mark Bidon, 50, is seen above moments before he was shot dead by sheriff's deputies in Arapahoe County

Bidon drove his small red Kia in reverse and blocked the employee exit, surveillance video shows. Bidon opens the driver's side door and stays inside

On the night of October 29, Bidon, a former Arapahoe County Sheriff's deputy, parked in front of the exit to the employee parking lot

When a sheriff's deputy exits the lot, he is forced to wait until Bidon drives a few feet forward so that he is no longer blocking the way

He drove his small red Kia in reverse and blocked the employee exit, surveillance video shows.

Bidon opens the driver's side door and stays inside.

When a sheriff's deputy exits the lot, he is forced to wait until Bidon drives a few feet forward so that he is no longer blocking the way.

The deputy, Buddy Gillespie, noticed that Bidon had a 'blank stare on his face' and asked if he could help.

The deputy, Buddy Gillespie, noticed that Bidon had a 'blank stare on his face' and asked if he could help. What was most frightening for the deputies was that Bidon had a gun in his lap while his hands were on the steering wheel. When one of the other deputies reaches inside the car in an attempt to take the pistol (above), a struggle ensues

Afterward, nine shots are fired by two deputies nine minutes after Bidon first arrived on the scene. As Bidon's bullet-riddled body lay lifeless in the car, the deputies notice police paraphernalia, indicating he was a member of law enforcement

Bidon, 50, was an Arapahoe County deputy from 2000 until he resigned in 2010, according to a statement from authorities

Bidon reportedly told Gillespie: 'Yeah, I'm here for my orders.'

Gillespie then radioed for backup. He told his colleagues that Bidon was 'having a mental episode.'

When Gillespie approached the driver's side window, he noticed Bidon had a gun.

Two other sheriff's deputies quickly arrived on the scene to help Gillespie. According to Fox 31 TV, one of the deputies recognized Bidon as a former deputy with whom he had worked.

The deputies described Bidon as having a 'thousand-yard stare'.

What was most frightening for the deputies was that Bidon had a gun in his lap while his hands were on the steering wheel.

'Don't move one inch, I'm serious, ok?' one of the deputies is heard telling Bidon as his hands are placed on the steering wheel.

The deputy is seen aiming a gun toward Bidon's head.

'He's got a loaded pistol right in his lap,' the deputy said.

When one of the other deputies reaches inside the car in an attempt to take the pistol, a struggle ensues.

'Mark, what are you doing?' one of the sheriff's deputies says to Bidon.

'Don't, don't, don't. don't, don't ... don't, don't!' one of the deputies is heard yelling.

After an investigation, the district attorney's office ruled that the sheriff's deputies acted properly

Bidon received 'multiple gunshot wounds' to his left arm and chest, Arapahoe County Coroner Kelly Lear said. The Arapahoe County Sheriff's Office headquarters is seen in the above file photo

Afterward, nine shots are fired by two deputies nine minutes after Bidon first arrived on the scene.

As Bidon's bullet-riddled body lay lifeless in the car, the deputies notice police paraphernalia, indicating he was a member of law enforcement.

Two other deputies arrived 'almost immediately,' and Bidon turned the gun toward them, authorities said.

'When the man turned the gun toward one of them, deputies discharged their weapons to stop the threat,' the sheriff's statement said.

'CPR was administered at the scene, without success.'

Bidon received 'multiple gunshot wounds' to his left arm and chest, Arapahoe County Coroner Kelly Lear said.

Lear classified his death as a homicide.

Bidon, 50, was an Arapahoe County deputy from 2000 until he resigned in 2010, according to a statement from authorities.