New Jersey police officer Joseph Walker, 40, was arrested Saturday in Maryland after he allegedly shot and killed a man in the midst of a road rage dispute, even as his wife and three children looked on.

Maryland State Police told CBS Baltimore that Walker killed 36-year-old Joseph Harvey after the two encountered on another on Route 3.

It was not clear what lead to the encounter, but police said several witnesses to the road rage incident called in with details. It escalated into lethal force after both men pulled onto the shoulder and Harvey exited his vehicle with another man and began walking toward Walker's minivan.

Police added that Walker's wife and three children were in the car with him at the time. The family was traveling through Maryland back to New Jersey, where Walker works as an officer for the Hudson County Prosecutor’s Office.

He's being held on $1 million bail, facing charges of second-degree murder and manslaughter.

This video is from CBS Baltimore, aired Sunday, June 9, 2013.