Arizona woman Esmeralda Rossi is planning to file a lawsuit after a police officer illegally entered her home and arrested her while she was naked. She was never charged with a crime. An incredibly disturbing YouTube video, filmed by Rossi’s teenage daughter, documents most of the encounter.

Officer Doug Rose–and another, unnamed officer who reported the incident to a supervisor–showed up at Rossi’s home to follow-up on a reported argument between her and her estranged husband. Rossi’s daughter told her mother, who was in the shower, that there were officers at the door. Rossi threw on a towel and answered the door.

“It made me very uncomfortable,” Rossi said to the ABC 7. “So I closed the door. I turn to go into my living room, and I probably get about five steps in. All of a sudden, I just hear boots running in after me, telling me, ‘Stop or I’ll arrest you.’”

After that, Rossi’s daughter starts filming with her cell phone. Rose and Rossi begin to argue, and Rose threatens arrest. He soon moves in and tries to restrain Rossi, which causes her towel to fall off as she cries. The two then have the following exchange:

Rose: “You have absolutely no clothes on?”
Rossi: “No, I was in the fucking shower. What is wrong with you?”
Rose: “Don’t take attitude with cops. Because we don’t play. When a cop shows up, you’re not the one in charge. I don’t care if this is your house.”

ABC 7 Denver reports Rose is retiring amid an internal investigation. Rose never reported the arrest, or Rossi’s state of undress. Rose was wearing a body camera, from which there was no video for this call.

Related: This Guy Dances in Front of a Cop and the Police Harass Him for No Reason