The York County Sheriff's Department recently released video from the February 25 incident.
The man got out of his truck when he was pulled over, and then he reached back in to get his cane.
That's when the officer opened fire, fearing the cane was a gun.
In the video you can hear the officer crying.
You can also hear the man's wife praying to god to save her husband.
The man survived the shooting but state police are investigating.