AURORA — An armed man driving a stolen car was shot and killed by Denver police on Monday, authorities said.

The shooting happened during the evening rush hour after Denver police officers saw a stolen vehicle in the southwest part of the city and followed it to an exit off Interstate 225 in neighboring Aurora, where the driver pulled over, Denver Division Chief Ron Thomas said. The man got out and at some point threatened officers with his weapon, leading officers to fire at him, he said. Thomas did not say whether the driver fired his weapon.

The man was taken to a hospital where he was pronounced dead.

The shooting is being investigated by multiple law enforcement agencies.