Following the shooting, Lilly, wearing what appears to be a security guard's uniform, gets on his cellphone and paces back and forth.
Police said 31-year-old Kenneth Lilly fired five shots at the 78-year-old school bus driver who bumped his vehicle on an icy interstate, hitting him in the head and arm.
The driver told Lilly he could not get on because a child was onboard, the complaint states.
Police say that the alleged gunman, Kenneth W. Lilly, 31, was driving on the I-35 freeway at around 2:30 p.m. when his auto made contact with the school bus, which was chartered for Minneapolis Public Schools.
Officials said the bus driver stayed awake as he was taken to a nearby hospital and is doing OK. Minneapolis Public Schools confirmed one of its students was on the bus at the time of the incident and was unharmed.
On Thursday, prosecutors charged him with attempted murder and assault with a unsafe weapon.
The Minneapolis Police Department received 911 calls after 2:20 p.m. Tuesday and believe a small crash led to the encounter. Court records don't list an attorney for him.
He is expected to make his first appearance on the charges in Hennepin County District Court Friday.
"The actions of Mr. Lilly were outrageous and it was sheer luck that neither the bus driver nor the little girl were killed", Hennepin County Attorney Mike Freeman said in a statement Thursday.
However, the video footage showed the defendant had retreated to a safe spot before walking in front of the bus and shooting, according to the complaint. Police said they're still investigating what led to the shooting.
That's when Lilly pulled out a 9mm semi-automatic handgun and started walking toward the front of the bus, according to the criminal complaint.