The incident last month as deputies with the Lakewood Sheriff's station responded to Alhambra Avenue in Paramount for calls of a man with a firearm who was making threats.
Newly-released footage shows deputies taking cover as they encountered 35-year-old Marcos Alfonso, who held a firearm in one hand and his 2-year-old son in his other arm.
According to the L.A. County Sheriff's Department, deputies and a mental evaluation team spent 25 minutes attempting to de-escalate the situation.
Alfonso repeatedly urged them to open fire.
One deputy discharged his rifle when Alfonso pointed a gun in the direction of deputies, the department said.
The child was not hurt, but Alfonso was hit by the gunfire and died at the hospital.