HYANNIS — A 21-year-old Dennis Port man was arrested Wednesday for allegedly shooting off a gun on Frost Lane on Tuesday night after a road rage incident, according to a statement from Barnstable police.

Nicholas Beale was charged with three counts of assault with a dangerous weapon, unlawful possession of a firearm and discharging a firearm within 500 feet of a dwelling, police said.

At about 8:30 p.m. Tuesday, police received several 911 calls about gunshots being fired on Frost Lane. Police learned that a road rage incident had occurred in Yarmouth and a white Honda with four people inside followed another vehicle back to the street in Hyannis, according to the statement.

The two people who were in the vehicle that was followed went inside their home on Frost Lane, a short road off Pitcher's Way, and immediately heard gunshots outside. Another person at the house went outside, and a man threatened to shoot him and fired more rounds from a handgun, according to the statement.

Police later found the Honda in Marstons Mills and after gathering evidence and talking to witnesses, obtained a search and arrest warrant for Beale. He was arrested at around 4:15 p.m. Wednesday at his home on Route 28 in Dennis Port. Police found the firearm that was used in the shooting, the statement says.

Beale is on probation for operating under the influence of drugs and liquor, according to police, and is scheduled to be arraigned Thursday in Barnstable District Court.