(NewsNation) — A routine gas stop in Missouri turned into a heart-racing moment when a father and son found themselves in the middle of a tornado.

Tad Peters and his father, Richard Peters, stopped at a QuikTrip in Rolla Friday night when they heard tornado sirens and saw other motorists fleeing the interstate to park.

“Whoa, is this coming? Oh, it’s here. It’s here,” Tad Peters can be heard saying on a video. “Look at all that debris. Ohhh. My God, we are in a torn …”

His father then rolled up the window.

The two are Norman, Oklahoma residents and were headed to Indiana for a weightlifting competition. Tad Peters said they stopped at the QuikTrip often and it was a “normal” weekend for them, but they never thought they’d be face-to-face with a tornado.

“While we were there in the lane, we’re like, this isn’t looking too good. We probably shouldn’t be driving anymore,” he said. “Then, before you know it, it happened, and there it is. And I mean, what else can you do? It’s not like you can go off driving anywhere, get out of your truck and go running somewhere, you’re stuck there.”

While they’re familiar with tornados passing through Oklahoma, Tad Peters said he’d never experienced one while in a car before.

“It was scary. Never been in that kind of situation before, and I would prefer not to be stuck inside a truck when there’s a tornado going over the top of us,” he said. “It literally happened in minutes.”

Due to the severe weather, the two decided to head back home, about six hours away.

At least 32 people were killed in a monster storm that swept across much of the U.S. Missouri recorded more fatalities than any other state as scattered twisters overnight killed at least 12, authorities said. The deaths included a man whose home was ripped apart by a tornado.

The Associated Press contributed to this report.