The family of Philando Castile said Wednesday they are prepared to pursue legal action against the police officers who fatally shot Castile during a traffic stop last week. Philando’s mother, Valerie Castile, said she hopes her son’s case prevents other deaths at the hands of the police.

Valerie Castile: “He is the driving force in me to make sure this doesn’t happen to another mother. It’s been going on too long. I used to look at TV and see other parents under these same circumstances and say, 'Wow, I hope that will never happen to me.' But it has. And now I have a voice, and I have to share that voice so you all will know exactly what happened.”

Castile’s death was live-streamed on Facebook by his girlfriend, Diamond “Lavish” Reynolds, in an extraordinary video in which she narrated the aftermath of the shooting while she was still in the car, with a police officer pointing a gun at her and her four-year-old daughter, as her boyfriend lay dying next to her. A public memorial is being held for Castile today in Minneapolis.