The incident happened October 22 at an apartment on West 143rd Street in Hamilton Heights.
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Two officers were responding to a call for a man who was attempting suicide.
After knocking on Paris Cumming's door, the 27-year-old man charged at them with two knives.
The officers told him several times to drop the knife before firing one shot.
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The bullet hit Cummings in the leg. He was taken to the hospital with non-life threatening injuries.
The department said the police officers immediately began performing first aid and called for an ambulance after the shooting.
Watch the raw, unedited footage below. WARNING: Video is graphic and may not be suitable for all viewers.
Graphic video: NYPD releases bodycam footage of officer-involved shooting
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