“Drummer Lee Rigby was killed in the street in Woolwich. At about 14:00 BST on Wednesday afternoon, witnesses saw a car crash on Artillery Place, off John Wilson Street in south-east London. The junction is next to one of London's military barracks.
Passers-by witnessed the events unfolding on Wednesday afternoon.
Witnesses saw two men repeatedly stab and hack at the soldier with knives. The assailants then dragged him into the middle of the street.
At least one of the two men, named as Michael Adebolajo, then asked witnesses to film the scene and he delivered a series of Islamist messages.
He and the other attacker, now named as Michael Adebowale, then waited for the police to arrive. Witnesses said that Mr Adebowale was holding a gun that looked like a rusty old revolver.
Armed officers reached the scene 14 minutes after the first 999 call.
Footage obtained by the Daily Mirror shows the pair rushing towards armed police - before they fall to the ground as the specialist armed officers open fire. One witness said that the attackers' revolver misfired and may have injured the man who was holding it.
Video footage shows Michael Adebolajo lying on the road after being shot
The Independent Police Complaints Commission has a duty to investigate all incidents when the police open fire. It says that the officers also used a Taser stun gun and that it has recovered CCTV footage from the scene.
The suspects
Michael Adebolajo is seen here at a protest in London in 2007
The two suspects are 28-year-old Michael Adebolajo, from Romford in east London, and 22-year-old Michael Adebowale, of Greenwich in south-east London.
They were taken to separate London hospitals, but after six days Mr Adebowale was discharged and taken into custody at a south London police station.
Mr Adebolajo, whose condition is described as stable with non-life threatening injuries, remains in hospital.
Michael Adebolajo is the man in the black hat with apparently