A Pennsylvania lawmaker is under fire after insinuating that a fellow state representative was gay for touching his arm during a committee meeting.

The incident, captured on a video feed, took place during a state government committee meeting in the Pennsylvania House of Representatives Tuesday night. Republican state Rep. Daryl Metcalfe was chairing a meeting about land use legislation when state Rep. Matthew Bradford, a Democrat who was speaking at the time, touched his arm.

"Look, I'm a heterosexual," Metcalfe said. "I have a wife, I love my wife. I don't like men, as you might. ... Stop touching me all the time," he said.

"It's like, keep your hands to yourself. Like if you want to touch somebody, you have people on your side of the aisle that might like it. I don't," Metcalfe told Bradford during the meeting.

Bradford began chuckling and turned red. A fellow representative can be seen hiding her face with her hand and shaking her head.

"OK, we're officially off the rails," Bradford said amid nervous chuckles throughout the meeting room. He said his intent with the arm touch was to "beg for your permission for about 30 seconds."

Metcalfe replied: "Then beg, don't touch."

He came under immediate criticism for the comments, and the Pennsylvania Democratic Party has called on Metcalfe, who has served in the statehouse since 1999, to resign from office.

When he was asked Wednesday about his response, Metcalfe told CBSPhilly, "the homosexual crowd thinks that they can, you know, flaunt their sexuality routinely throughout the course of the day and throughout our government now and debate after debate."