A man died in Denver Police Department custody Tuesday afternoon after he resisted officers arresting him on suspicion of a carjacking on East Colfax Avenue.

Police first received 911 calls about the incident just before 4:30 p.m. Tuesday, with one describing that the man, wearing only his underwear, got into their vehicle in the 2100 block of East Colfax Avenue in what they described as an attempted carjacking, according to a Thursday news release from the department.

During that attempt, one of the vehicle’s occupants allegedly fought the man to get him out of their car, hitting him several times in the head and upper body before he was pulled out of the vehicle, according to the release. The man then walked away; police received additional reports of him entering a business and causing a disturbance inside.

Police arrived on scene and approached the man, who, when contacted, appeared to be breathing heavily and began yelling, according to the release. Officers handcuffed and subdued him — even while he struggled against them — and did not use less-lethal systems, such as TASERs or pepper spray.

Authorities called EMS and helped move the man to a gurney because he was still struggling, according to the release. He did not show visible signs of injury but was taken to a hospital where he was later pronounced dead.

In response to the death, the department launched its critical incident investigation protocol in response to the incident, as is standard practice, which involves additional investigators from Colorado State Patrol, the Colorado Bureau of Investigation and the Denver Major Crimes Division, with oversight from the Denver Office of the Independent Monitor.

The Denver Office of the Medical Examiner will determine the cause and manner of death and identify the man at a later date.