The Holloways have filed a complaint with the police's internal affairs department demanding an investigation. They are also asking prosecutors to bring criminal charges against Rios and plan to file a suit against the department for police brutality.
"We are looking for the police department to suspend the officer pending an investigation," said Lucianna. "And I don't think this will take too much time -- maybe 15 minutes -- because the videotape speaks for itself. We don't want this to happen to anyone else."
One of the demonstrators at Saturday's rally -- Shawanna Barksdale of Passaic -- claims she, too, had been pulled from her car two years ago by Rios in a case of mistaken identity.
"I'm really upset this happened again," said Barksdale, a 30-year-old phlebotomist with three children, ages 15, 9 and 2. "It's still bad enough to be emotional."
She said Rios had jumped into her barely stopped car as she was pulling over to assist her sister, who was parked by the side of the road.
"He just attacked me," she told ABCNews.com. "He jumped in my vehicle and dragged me out by my hair. I still had my foot on the brake and wasn't even parked. He told me to get out with no explanation why, then hit me and cussed at me."
Barksdale said she was arrested and charged with aggravated assault and obstruction with a vehicle. Those charges were later dropped, but no action was taken against the officer.
"I remember that," said her cousin, Khadijah Barksdale, 15, who was babysitting for the three children while Shawanna Barksdale was at the rally. "He hit her, and she had to defend herself any way she could."
"I think [the officer] should be charged with something and fired," she said. "That's just not right because he has a gun on him and all the power. He's a policeman. He shouldn't be hurting anybody."
Holloway was charged with "wandering or loitering or remaining for the purpose of obtaining drugs."
Video surveillance was set up at Lawrence's Grill and Bar to catch criminal activity. On May 29, the day of the alleged beating, the shift manager was told there had been a police incident outside and reviewed the tape.
The tape, according to Holloway's lawyer, was sent to the Passaic Police Department, "who did nothing about it."
The tape was eventually made public by the Bergen County Record newspaper.