MILWAUKEE (CBS 58) -- Milwaukee police have arrested a man they believe to be responsible for a murder on the city's south side last week. 

Officials say 35-year-old Jose Arroyo-Cervantes shot 52-year-old Othon Herrera Tuesday, April 22, near 7th and Mitchell.

According to a criminal complaint, Cervantes had been driving behind Herrera near 7th and Maple when Hererra stopped and allowed a pedestrian to cross the street. It says as Herrera resumed driving and began to make a left turn, Cervantes attempted to cut him off. The complaint alleges Cervantes made a left turn and began traveling northbound in the wrong lane of traffic, parallel with Herrara, so his van was next to the driver's side of Herrera's vehicle. 

Prosecutors say that's when Cervantes fired shots into Herrara's vehicle before it crashed into a nearby building.

The complaint says police obtained video from the area showing Cervantes getting out of his vehicle and approaching the driver's side of Herrera's car at the site of the crash before fleeing the scene. It also says a witness reported hearing additional gunshots coming from the scene of the crash. 

Cervantes is charged with first degree intentional homicide and first degree recklessly endangering safety. 

He's due in court for an initial appearance April 30.