Charles McMillian, who is 61, says that he didn't see any violence from Mr Floyd towards officers.
He adds "I was trying to get him to go" with officers as Mr McMillian said that's how interactions with police go.
McMillian says he knew Derek Chauvin from the officer being in the community.
McMillian said that he stopped to see what was going on with George Floyd because he "was nosey".
Police bodycam footage is currently being played to the court which depicts Mr Floyd saying "I can't breathe" while he is being put in a police car.
Mr Floyd says he doesn't want to get in the car because he is claustrophobic.
McMillian says he asked the police to let Mr Floyd up - but the police told him that if Mr Floyd could talk then he could breathe.
This is understood to be the last sympathetic interaction George Floyd would have had with someone who was trying to help him.
George Floyd killing: Live updates of Derek Chauvin trial with shop worker who served victim describing what happened before police arrived