Columbia, SC (WLTX) - The video showing a shooting involving a former South Carolina state trooper and an unarmed man has been released to the public.

The video was taken from the dash camera installed inside 31-year-old Sean Groubert's vehicle during an encounter in which Groubert shot 35-year-old Levar Jones on September 4th. The incident took place at a Circle K gas station on Broad River Road in Columbia.

Groubert was charged Wednesday with assault and battery of a high and aggravated nature in connection with the incident. Bond was set at $75,000.

Previous Coverage:Trooper Fired for Shooting Unarmed Man | 5 Previous Complaints Against Trooper | Trooper Involved in Shooting Was Involved in '12 Incident

In the video, Jones can be seen getting out of his car when Groubert pulled up and asked for his license. Jones can be seen reaching into his car for his license, and as he does, Groubert begins yelling at Jones and fires several shots.

Jones was hit by one bullet in the hip. He is recovering at home after being hospitalized for the injury.

While shooting at Jones, Groubert can be heard yelling, "Get out of the car, get out of the car."

Jones replied,"I just got my license, you said get my license."

Groubert responded by telling Jones to get on the ground.

While on the ground Jones said, "I have my license right here, you said get my license."

In the video Groubert can be heard asking Jones if he was hit by a bullet and went on to say, "Bro, you dove head first back into your car."

After seeing the video in court, Groubert's attorney, former Fifth Circuit Solicitor Barney Geise, says that his client is not guilty and is looking forward to his day in court.

South Carolina Department of Public Safety Director Leroy Smith fired Groubert September 19th after observing the video and reviewing a report from the State Law Enforcement Division. In dismissing Groubert, Smith called the facts of the case "disturbing."

The charges filed Wednesday were brought by the Fifth Circuit Solicitor's office, which also reviewed SLED's findings. Groubert faces a maximum of 20 years in prison.