Israel-Gaza-Lebanon live updates: Some UN members walk out as Netanyahu speaks

Prime Minister Benjamin Netanyahu pushed back against international criticism of Israel's treatment of Palestinians in Gaza, saying Israel is "falsely accused of genocide," as he spoke at the United Nations General Assembly.

Netanyahu also called the accusation of Israel starving Palestinians in Gaza "an absurdity."

Over 40,000 Palestinians have been killed in Gaza since Oct. 7.

As Israeli officials say they are preparing for a ground invasion into Lebanon and hours after Netanyahu said Israel will "continue the fighting with full force," Netanyahu told the United Nations that "Israel seeks peace."

Netanyahu has also publicly denied the possibility of a cease-fire with Hezbollah, publicly rejecting an international proposal for a 21-day cease-fire suggested by President Joe Biden and French President Emmanuel Macron.

Taking the podium at the United Nations General Assembly, Israeli Prime Minister Benjamin Netanyahu said his nation is at war, vowing to return the hostages taken by Hamas.

He also issued warnings to Iran and the entire Middle East as Israeli officials said it is preparing to launch a ground invasion into Lebanon.

"There is no place in Iran that the long arm of Israel cannot reach. And that is true of the entire Middle East," Netanyahu said.

"If you strike us, we will strike you," Netanyahu said, addressing Iran.

Netanyahu received some boos and some members of the General Assembly walked out as he took the podium.

Netanyahu said he hadn't intended to attend the U.N. this year, but "came here to set the record straight."

A ballistic missile was fired by the Yemen-based Houthis at central Israel, setting off sirens in several areas. Explosions were heard following the interception of the missile and there was falling shrapnel, according to the Israel Defense Forces.

The missile launch follows a number of attacks by other Iranian-backed proxies based in Iraq in recent days.

In the last 72 hours, Iranian-backed militias in Iraq have claimed responsibility for five attacks on Israel, including three explosive drones launched at Israel on Wednesday.

-ABC News' Nasser Atta and Tom Soufi Burridge

While the Israel Defense Forces said a missile fired from Yemen was successfully intercepted by the "Arrow" Aerial Defense System on Thursday night, 19 people were still injured.

One person was injured and is in moderate condition, and 18 people were injured while seeking shelter and are in mild condition, the Israeli emergency services said in a statement.

The individual in moderate condition -- a 17-year-old female -- was hit by a vehicle that swerved off the road after sirens went off.

-ABC News' Anna Burd