The passenger in the Impala said he and his friend Steve Espinosa decided to go to Lincoln Park and pulled into the parking lot.
Several men surrounded their car and began arguing with them, the passenger said. The warrant did not say what started the argument.
The argument escalated into a shooting. Initially, the passenger said he never fired a weapon, but he later told detectives he leaned out of the passenger window and fired shots as he tried to defend himself.
Home surveillance video showed that Espinosa managed to drive the Impala out of the parking lot as three other men can be seen running after the car with guns.
Fort Worth police who responded to the shooting found the Impala in the 3000 block of Lincoln Avenue and located Espinosa fatally shot in the driver seat.
Multiple cartridge casings were found in the parking lot and on Lincoln Avenue.