Two men are facing charges after a home invasion in Waltham in which three people were held against their will, assaulted, robbed, and shot at, police said.

The men are accused of breaking into a home on Lake Street about 11:30 p.m. Friday and starting a fight. Andre Laventure, 26, of Manchester, N.H., had a gun, police said, and is accused of shooting at the victims when they ran away, police said. Laventure and Cameron Fournier, 24, of Chelmsford, are both accused of assaulting and robbing the victims. Police did not provide further details of the incident, including whether the victims knew their attackers.