A Minnesota man is accused of dressing up as a UPS delivery man and killing three people during an attempted on robbery on Friday.

Alonzo Mingo, 37, was charged with three counts of second-degree murder committed without premeditation but with intent, according to a criminal complaint filed Monday in Anoka County, Minnesota.

Mingo made his first court appearance on Monday and was denied a public defender.

The Anoka County Attorney's Office did not respond to USA TODAY's request for the criminal complaint. Several outlets reported that prosecutors say Mingo entered a home in Coon Rapids, a Minneapolis suburb, dressed as a delivery man and demanded money. He then shot three people in the head, The Hill reported.

In a press release, The Anoka County Sheriff's Office said they received a 911 call where a disturbance could be heard in the background at around 12:30 p.m. The Coon Rapids Police Department, Blaine Police Department, and Anoka County Sheriff’s Office all responded to the home on 200 block of 94th Avenue Northwest and found two men and one woman dead in the home.

Video shows three people entering the home

Police said Mingo and two other individuals can be seen in video footage leaving Mingo's car on Friday and entering the home. Authorities said one other person besides Mingo was also dressed as a delivery driver and the other person carried a cardboard box.

The three victims have been identified as Shannon Patricia Jungwirth, 42, her son Jorge Alexander Reyes-Jungwirth, 20, and her husband Mario Alberto Trejo Estrada, 39.

KARE11 reported that police found one of the men dead in the doorway, the second man was found in an office, and the woman was found in a bedroom. All three had gunshot wounds.

Two kids witnessed the robbery, killing

In another statement, the sheriff's office said two small children under the age of five were inside the home and witnessed the attempted robbery and killing.

Video from a camera inside the home showed Mingo, dressed like a UPS worker leading a man into a bedroom at gunpoint. A woman was in the bedroom with two kids under the age of five, police said.

According to police, Mingo then held the man and woman at gunpoint and demanded money. He then led everyone out of the room.

Mingo then returned to the room with the woman and shot her at point-blank range, authorities said.

“The older child can be seen entering the bedroom shortly thereafter, crying hysterically,” Coon Rapids police wrote in a probable cause statement.

When the younger child tried to check on the woman, the older one pulled them away.

Mingo and the other two people left the house, about seven minutes after they first entered. The criminal complaint does not mention charges against the other two individuals seen in the security footage.

Woman charged:They found a head in her fridge. She blamed her husband. Now she's charged in the case.

Suspect Alonzo Mingo arrested

Police caught Mingo driving the car several hours later and arrested him.

Police say Mingo was employed at UPS until early January. They found a delivery uniform top and vest in a backpack in Mingo’s car.

Additionally, they found his fingerprints on the cardboard box brought into the home.

He’s currently in jail on a $5 million bond.

The Associated Press contributed to this report.