PHOENIX (3TV/CBS 5) -- The Phoenix Police Department is investigating after they received allegations of misconduct while two people were taken into custody for a shoplifting incident.
They were provided video on June 11 of an officer taking two people into custody while investigating a theft near 32nd and Roosevelt streets.
[GRAPHIC RAW VIDEO: Citizens record on cellphones alleged Phoenix police misconduct]
Those two people have now come forward as 22-year-old Dravon Ames and 24-year-old Aisha Harper.
The incident stemmed from accusations that their daughter stole a doll from a nearby Dollar General.
Both Ames and Harper were later released and no charges were filed, but video of the incident shows officers with their weapons drawn, some of them using profane language.
"If that's the way you typically stop people of color, or anybody in this city, you are asking for problems in the streets of this city," said Rev. Jarrett Maupin, who held a press conference with the family on Wednesday.
Ames and Harper say police used excessive force after they approached their car without lights or sirens.
"We just parked at the complex, dropping our daughter off to the babysitter," Ames said. "Next thing you know, a police officer, or we didn't know who he was, a guy, a random guy, comes up, open the door, banging on the window with a gun, saying he's gonna shoot us in the face, telling us to get out of the car."
The family says five to ten minutes went by from when officers first approached and when people started filming.
And police experts say that there's a lot of missing information here.
"You know nothing about what led up to this encounter, you know nothing about what radio traffic transpired, we know nothing about the officers' state of mind to what they believed , and what their perceptions were," said retired Tempe Police Officer Kevin Boontjer.
And while it's not clear if officers knew it at the time, Ames currently has a pending charge of aggravated assault on an officer from October of last year.
"A police officer has every right to go home at the end of their shift as anybody else does," Boontjer said.
Meanwhile, Phoenix PD is looking into what happened.
"The Phoenix Police Department takes all allegations of misconduct seriously and for this reason, this incident is currently being investigated by the Professional Standards Bureau," said the Phoenix Police Department in a Facebook post.