He went on to say he will take legal action against the Milwaukee Police Department.
Lucas was also a Milwaukee police officer from 1976 until 2002.
The incident began with a parking violation and escalated into the use of a stun gun on Brown and an arrest by a number of police officers.
"If this guy hadn't been such [an idiot], it would've been 'Hey, have a nice day.' But then I thought, 'Oh, he is being an ass, he is trying to hide something.' And now he's like 'I'm a Bucks player, '" the first officer on the scene can be heard explaining to his colleagues after Brown had been tasered.
Brown, 23, who plays for the Milwaukee Bucks, was arrested in the early hours of January 26 after parking across two disabled spots outside a Walgreens store.
Common Council President Alderman Ashanti Hamilton says he and his colleagues are concerned with what they saw in the body camera footage.
Brown eventually does show the officer his driver's licence. He did not share the name of officers or other details.
The video contradicts the incident report, which claims Brown was acting "very aggressive" and "physically resisted" when officers tried to handcuff him.
Brown was decentralized, tased and arrested.
Police chief Alfonso Morales told reporters the officers "acted inappropriately" toward Brown after he was confronted for parking across multiple bays. "I promise that when the department is involved in events of this nature, we'll be honest about them, and we are", he said.
Sgts. Jeffrey Krueger and Sean Mahnke were suspended for 10 and 15 days, though it wasn't clear which supervisor received the longer suspension.
He went on to list cases of black men being shot and killed by U.S. police, adding: "Black men shouldn't have to have their guard up and instantly be on the defensive when seeing a police officer, but it's our reality and a real problem".
Sterling Brown issued a statement on his Twitter account.
In order to truly protect and serve our community as a whole, we need a police department that sees us not as threats or problems but as the human beings that we are.
Situations like mine and worse happen every day in the black community.
In 2016, the city paid $5 million to settle a lawsuit by 74 black residents who said police illegally strip-searched them between 2008 and 2012. Fuller believes officers aren't being held accountable for their actions.