A Lawrenceville man was followed from DeKalb County, robbed at gunpoint and carjacked outside his home, Gwinnett police said Friday.

Shortly after 10 p.m. May 25, the victim had just gotten home when a man with a bandana on his face approached him, Gwinnett police spokesman Cpl. Deon Washington said. The man took the victim’s keys, phone and cash, got into the victim’s vehicle, and drove away.

The car was recovered in Atlanta, police said.

Police said the victim remembered there was another man who watched the robbery while waiting near a car in front of a neighbor’s home.

The victim said he left a QuikTrip in DeKalb County that evening when he saw a car driving erratically behind him on I-85. The car was described as a dark Jeep or Dodge. The victim later recognized the car outside his home, police said. Detectives have obtained surveillance video from the QuikTrip and are trying to identify a man seen walking out the door.

The man captured in surveillance footage is between 18 and 25 years old, 5-foot-7 and 5-foot-10 and 130 and 160 pounds, Washington said.

Anyone with information is asked to contact police by calling 770-513-5300 or 404-577-8477 or visiting crimestoppersatlanta.org. Tipsters can remain anonymous and be eligible for a reward of up to $2,000 from Crime Stoppers.

Washington urged people to pay attention to their surroundings while driving.

“It is never a bad idea to know and regularly vary your routes home to see if someone is following you,” he said.