Update: Officials say the two Bergen County police officers involved in the confrontation were disciplined.

BERGEN COUNTY — State police have released a report detailing a heated confrontation between a trooper and members of the Bergen County Police Department earlier this year.

The report claims the trooper, whose name was redacted, arrived on the New Jersey Turnpike in Leonia, where a plain clothes officer from the county force had stopped a minivan the afternoon of May 31.

Because of a trio of recent robberies involving suspects who impersonated police, the trooper drew his handgun as he approached the officer.

"I firmly asked the unknown plain clothes officer to show me his picture identification," he wrote. "The PC officer obliged my request, provided me with his Bergen County Police issued picture ID and proceeded to tell me to 'Get the f--- out of here!'"

The trooper remained on scene to provide the officer with backup, but additional units soon arrived on scene and began to engage him in what he called a "verbal altercation."

"At one point the initial PC officer I had contact with had invaded my personal space. I was forced to create distance between us in order to avoid a physical confrontation," his report reads. "A verbal argument continued on between myself and the PC officer."

A video recorded by the trooper's dashboard camera, obtained by Cliffview Pilot, also documents the heated exchange.

Watch the full video here.

When challenged about his presence on the scene and his initial drawing of his weapon, the trooper attempts to explain the rash of recent impersonations. However, the conversation soon devolves into a shouting match between him and Officer Robert Duboue and Sgt. Gabriel Escobar of the county department.

At one point, Escobar tells the trooper to "go cry to your boss." Later, Duboue asserts that his agency is better equipped to handle the stop.

"You're not from here. You don't know s--- about here," he says.

State police are the primary agency that patrols the Turnpike and the rest of the state's highways. The trooper involved in the stop also indicates in his report that a similar conflict between state police and the Bergen County Police Department had taken place in late January on the Turnpike.

Bergen County Police Chief Brian Higgins said his department has reviewed the incident extensively, and concluded that neither his officer or the state trooper was at fault.

"Each was doing his job...it appears that the Trooper was doing his job in stopping and investigating the motor vehicle stop and the Bergen County Police Officer conducted a motor vehicle stop for a violation of the traffic laws," he said in an email.

"That motor vehicle stop did warrant further investigation at which time the County Police Officer was continuing to act in his capacity as a law enforcement officer."

Higgins added that it is the department's policy to notify other police agencies whenever it makes a traffic stop, unless it would interfere with an ongoing investigation.

He also emphasized that the county department has continued to work harmoniously with the state police, such as in the recent search for a man who drowned at Overpeck County Park, and in making preparations for next year's Super Bowl at MetLife Stadium.

"I have seen interactions in the past between uniformed officers and officers wearing civilian attire that ended tragically," he said. "The most important point here is that no one was hurt."

Col. Rick Fuentes, the state police superintendent, issued a statement of support for the trooper involved, saying his actions were "fully justified" given that two men had impersonated police officers during carjackings on May 16 and May 26 — less than two weeks prior to the incident.

The controversy over the May stop comes during a tumultuous time for the county force, as it fends off attempts by many officials to merge it with the Bergen County Sheriff's Department.

Earlier this month, Sheriff's Department Officer Vincent Surace complained that members of the Bergen County police showed up on Route 208 in Fair Lawn after he stopped County Freeholder Maura DeNicola — one of the county department's most ardent defenders — for driving an unregistered vehicle on Aug. 14.

The officers "intentionally distracted and intimidated him" during the stop, which he came to believe was due to her position as a freeholder, Surace wrote in a report.

DeNicola, who has denied identifying herself as a freeholder or contacting any member of the county department, was ultimately allowed to call AAA to tow her vehicle, and was not ticketed.

The incident has proved to be the latest spark in the turf war between the two agencies.

Higgins has stated that department records, including audio and video from his officers' cruisers, would show that no inappropriate action was taken. However, he has declined to release those recordings or dispatch records, citing an ongoing investigation into "a series of incidents."

The sheriff's department is conducting its own probe into the incident, but plans to release audio of Surace's correspondence with dispatchers in the coming days, according to spokesman David Martinez.