Horrific surveillance footage captured armed men raiding an Arizona home before kidnapping and killing a 17-year-old boy and shooting his grandfather.  

Jesse Sainz Camacho was abducted from his west Phoenix home in a targeted attack around 3am on December 19. His remains were recovered on December 28 in a remote area of Maricopa County. Police have not revealed the exact location.

Released home footage stills showed the horrifying moment the two kidnappers entered the home wearing baseball caps and holding guns.

'Jesse was actually the intended target in that home invasion,' Sgt. Philip Krynsky said. 

The suspects haven't been arrested. Police confirmed Camacho's grandfather is expected to survive his injuries. 

Police are on the hunt for Camacho's killers and said they fled the shooting with the teenager in a dark-colored car.

'We want to make sure we get these individuals off the street,' Sgt. Krynsky said. 

'We don’t want there to be any more violence with this, so again, we are looking for you, we will identify you and hold you accountable.' 

He continued: 'We don’t suggest that you approach these individuals.' 

A neighbor, who wished to remain anonymous, told police he saw the incident unfold through his bedroom window.

'I was awake around two-ish, talking to my friends on the phone,' the neighbor told Fox5.  'And then, I hear gunshots.

'It's crazy, because I went to school with him last year. It was crazy that it was one of my neighbors and it was around my neighborhood. I would never have thought that something like that would happen out here.' 

Camacho's cause of death hasn't been revealed.  

Police haven't revealed how they located Camacho's body or why he was targeted by the suspects. 

The Phoenix police are asking anyone with information to contact Silent Witness at 480-WITNESS.

Authorities are offering an award up to $1,000 for information that may lead to the arrest of Camacho's kidnappers.