Surveillance video showed the car entering the industrial park and at 3:23 a.m. driving down a gravel road near where Lloyd's body was found. Four minutes later, McCauley said, the car emerged. During that period, employees working an overnight shift nearby heard several gunshots, McCauley said.
McCauley said Lloyd was shot multiple times, including twice from above as he was lying on the ground. He said five .45 caliber casings were found at the scene.
Authorities did not say who fired the shots or identify the two others with Hernandez.
At 3:29 a.m., surveillance at Hernandez's house showed him arriving, McCauley said.
"The defendant was walking through the house with a gun in his hand. That's captured on video," he said.
His friend is also seen holding a gun, and neither weapon has been found, McCauley said.
Then, the surveillance system stopped recording, and footage was missing from the six to eight hours after the slaying, he said.
The afternoon of June 17, the prosecutor said, Hernandez returned the rental car, offering the attendant a piece of blue Bubblicious gum when he dropped it off. While cleaning the car, the attendant found a piece of blue Bubblicious gum and a shell casing, which he threw away. Police later searched the trash bin and found the gum and the casing. The prosecutor said it was tested and matched the casings found where Lloyd was killed.
As McCauley outlined the killing, Lloyd's family members cried and held each other. Two were so overcome that they had to leave the courtroom.
The Patriots said in a statement after Hernandez's arrest but before the murder charge was announced that cutting Hernandez was "the right thing to do."
"Words cannot express the disappointment we feel knowing that one of our players was arrested as a result of this investigation," it said.
Hernandez, originally from Bristol, Conn., was drafted by the Patriots in 2010 out of the University of Florida, where he was an All-American.
During the draft, one team said it wouldn't take him under any circumstances, and he was passed over by one club after another before New England picked him in the fourth round. Afterward, Hernandez said he had failed a drug test in college - reportedly for marijuana - and was up front with teams about it.
A Florida man filed a lawsuit last week claiming Hernandez shot him in the face after they argued at a strip club in February.
Hernandez became a father on Nov. 6 and said he intended to change his ways: "Now, another one is looking up to me. I can't just be young and reckless Aaron no more. I'm going to try to do the right things."