The motorcyclist, identified by police as Rone Gonzalez, and the driver of the red Ford Fusion, identified by police as Kristiian Rosa, were caught speeding, cutting each other off and driving down the wrong lane in video from Gonzalez’ helmet camera.
Gonzalez's video, posted to YouTube, appears to start midway through the incident and mainly captures what Rosa did to Gonzalez and his motorcycle. At one point in the video, Rosa appears to spit at Gonzalez and hit the bike.
An earlier version of Gonzalez's footage, posted by WSVN-TV in Miami, showed more of Gonzalez’ actions, not included in the YouTube version: Gonzalez appears to give Rosa the middle finger and hits the car's side mirror.
No injuries stemming from the incident were reported, according to Detective Fernando Morales, Public Information Officer for the department.
Rosa filed a report with the Homestead Police Department shortly after the incident on Monday afternoon, Morales told ABC News today.
In the report, obtained by ABC News, Rosa claimed he did not know the motorcyclist, who he described as "an unknown white male."
After seeing the motorcyclist drive what he described as, "erratically, cutting off vehicles and speeding," Rosa said he "exited his vehicle and had a verbal argument," according to the report. He added that the motorcyclist "smacked his rear view mirror causing minor damage" and eventually fled to an unknown location.
Rosa said in the report that he did not wish to pursue charges for the damaged mirror.
After an investigation into the video that surfaced online, police arrested Rosa, 30, and Gonzalez, 23, on Wednesday, Morales said. Both drivers face a misdemeanor charge of reckless driving, though Rosa faces an additional felony charge of aggravated assault, he said.
Neither driver entered a plea to the charges as of Wednesday afternoon, Morales said, adding that their first court appearance will likely be on Thursday.
Gonzalez and Rosa did not immediately return ABC News' requests for additional comment prior to their arrests.
Gonzalez wrote in a comment on his YouTube video that he was "not an experienced rider" and "all of this stuff wasn't on purpose but an attempt to get away."
"I didn't chose to get on to on coming traffic, he blocked my path on both lanes,” Gonzalez continued. “I didn't want to harm myself or other people, which is exactly what happened, no one got hurt, everyone, even the guy goes home."
"A police report is the most I will do,” he added. “No one got hurt everyone goes home. That's the end goal. If I was more experienced then yes it could have been differently. But I was in fear of my life, and panicking."
Gonzalez did not file a police report with the Homestead Police Department, according to Morales.
Rosa had a different response to the incident, saying that the motorcyclist had vandalized his car.
"He had no intention of stopping then he breaks my side view mirror in the heat of the moment," Rosa wrote in a statement to ABC affiliate WPLG-TV in Miami. "I reacted. I'm not proud of what I did. all I can say is that I learned a big lesson. A lot of things could have happened in that short time. it only takes a second for an accident to happen, yet we both took no consideration over our loved ones or the people around us at the time Lesson learned. All lives matter."
This story has been updated to include charges filed on April 6, 2016.