U.S. Defense Secretary Leon Panetta appeared before a Senate panel on Tuesday to discuss the Obama administration’s recent decision to withdraw U.S. troops at the end of the year. Panetta got into a heated exchange with Republican Senator John McCain of Arizona, who questioned Obama’s plan.

Sen. John McCain: “The truth is that this administration was committed to the complete withdraw of U.S. troops from Iraq, and they made it happen.”

Defense Secretary Leon Panetta: “Senator McCain, that’s just simply not true. I guess you can believe that, and I—and I—and I respect your beliefs.”

Sen. John McCain: “And I respect—and I respect your opinion.”

Defense Secretary Leon Panetta: “But that’s—”

Sen. John McCain: “And the outcome—”

Defense Secretary Leon Panetta: “But that’s—but that’s not true.”

Sen. John McCain: “And the outcome—”

Defense Secretary Leon Panetta: “That’s not—”

Sen. John McCain: “— has been exactly as predicted.”

Defense Secretary Leon Panetta: “But that’s not—that’s not how it happened. This—this was—”

Sen. John McCain: “It is how it happened. I was there, Mr. Secretary. You were not.”

Defense Secretary Leon Panetta: “This is—this is about negotiating. This is about negotiating with a sovereign country, an independent country. This was about their needs. This is not about us telling them what we’re going to do for them or what they’re going to have to do. This is about—”

Sen. John McCain: “It’s about our needs, as well, Mr. Secretary.”