CAMBRIA COUNTY, Pa. (WJAC) — State Police investigators are providing new details about what led to Saturday’s deadly, early morning shooting outside a home in Cambria County, Pennsylvania.

Troopers say 24-year-old Dylan Lang allegedly admitted to killing 55-year-old Robert Hagen Jr. after confronting him in the driveway of a home along Heritage Lane in Jackson Township

According to a newly released criminal affidavit, police said Hagen was reportedly caught having sexual relations with Lang’s mother.

Upon further investigation, police learned that Hagen and Lang’s mother had reportedly been out drinking and had returned to her home, where she lived with Lang, two other relatives and her ex-fiancé.

While Hagen and Lang’s mother were reportedly engaged in sexual acts, inside Hagen’s truck, troopers said Lang allegedly exited the home and confronted them with a firearm.

According to witness statements, investigators said Lang attempted to point the gun through the driver side window but was unsuccessful because the window was not lowered far enough.

Police said that’s when Lang then reportedly broke the driver’s side passenger window and pointed his 9 mm handgun at the back of Hagen’s seat.

Investigators said that despite pleas from his mother, Lang reportedly fired two shots through the back of the seat, striking Hagen in the upper torso.

Troopers noted that Hagen briefly attempted to back his truck out of the driveway but once he was shot, police said the vehicle rolled into the yard of the home.

Investigators sidy Lang’s mother then asked him why he shot Hagen, yelling, “You shot him!”

According to call logs, police said Lang made repeated incriminating statements, admitting to shooting and killing Hagen.

I just shot someone in my driveway,” Lang reportedly told 911, before stating, “I f—ed up!”

Investigators say Lang also claimed that Hagen had been “hooking up” with his mother for several days, stating that it caused him to react “out of control.”

Police note that when they arrived on scene, Hagen was reportedly found inside his truck, “with his pants around his ankles.”

According to online court records, Lang is now jailed, without bail, on charges of criminal homicide, aggravated assault and reckless endangerment.

A preliminary hearing is scheduled for October 27 at 9 a.m EST.