Shelby County DA Steven Mulroy released a statement following the release of the body camera footage.

Mulroy said the video was delayed because "it it was important to make sure witnesses spoke first from their memory and nothing else."

"As D.A., I have always sought to balance out the rightful demands of the community with protecting the integrity of our investigation and prosecution," Mulroy said in a statement.

The DA reiterated calls for peaceful protest as the investigation continues.

"It’s my hope that this tragedy can lead to a broader conversation on police reform," he said.

-ABC News' Whitney Lloyd

President Joe Biden released a statement following the release of the body camera footage of the police encounter with Tyre Nichols.

"Like so many, I was outraged and deeply pained to see the horrific video of the beating that resulted in Tyre Nichols’ death. It is yet another painful reminder of the profound fear and trauma, the pain, and the exhaustion that Black and brown Americans experience every single day," he said.

"We must do everything in our power to ensure our criminal justice system lives up to the promise of fair and impartial justice, equal treatment, and dignity for all," the president added. "Real and lasting change will only come if we take action to prevent tragedies like this from ever happening again."

Memphis officials have now released the footage of Nichols' confrontation with police.

Four videos were shared to Vimeo by the city of Memphis.

The videos included the warning: "Footage contains graphic content and language. Some may find offense. Viewer discretion is advised."

The city shared footage from three bodyworn cameras, as well as a pole camera, amounting to about 67 minutes total.

The first clip is a body camera video that shows the initial traffic stop where Nichols is pulled out of his car. Nichols can be heard at one point saying calmly, "You guys are really doing a lot right now -- stop, I’m just trying to go home," as he's laying on the ground, before he manages to break free and runs away.

The second clip is city surveillance video taken from the second location, which shows Nichols being hit, kicked and punched by several of the officers, including the use of a baton.

The third clip is body camera video which shows the officers beating Nichols, taken from the vantage point of the officer who can be seen hitting Nichols with a baton in the second clip.

The fourth clip is also body camera video, though less than two minutes in nothing is visible. Audio can be heard, including Nichols yelling out "mom" at least three times. The video becomes visible once again several minutes later, showing Nichols slumped on the ground next to a vehicle.

Nichols' family, who saw the footage earlier this week with their attorneys, supported its public release.

President Joe Biden spoke with Nichols' mother and stepfather in a phone call Friday ahead of the footage's public release.

"He was a hell of a kid, a handsome boy," Biden said.

Nichols' mother, RowVaughn Wells, told Biden that Nichols had her name tattooed on his arm.

"I do know that," Biden said. "I love it."

Ben Crump, the family's attorney, said on the call that the video will "evoke strong emotion," and urged U.S. lawmakers to watch.

"This gives you another opportunity to call for them to come back and pass the George Floyd Justice in Policing Act, so we can try to prevent the next Tyre Nichols from happening," Crump said.

"We're in full agreement," Biden said, noting that he passed an executive order on police reform, "but we got to get it for local police."

As he departed the White House for Camp David Friday evening, Biden recapped his call with Nichols' mother, which he said lasted about 10 to 15 minutes.

"I told her that I was going to be making the case to the Congress they should pass the George Floyd act. We should get this under control," he said. "I can only do so much in the executive order at the federal level."

The president also recounted that Wells called for peaceful protests.

"I'm obviously very concerned about it, but I think she has made a very strong plea," he said.

--with ABC News' Molly Nagle

Tyre Nichols’ stepfather, Rodney Wells, said at a news conference Friday that he’s “very satisfied with the charges” against the five police officers, including second-degree murder.

Although Wells initially said he wanted to see the officers charged with first-degree murder, he said, “As the charges were told to us and they explained to us what the difference between murder one and murder two was, we're very satisfied with the charges.”

Wells pleaded with the public to protest peacefully.

“We want peace. We do not want any type of uproar,” he said.

Wells added, “The family is very satisfied with the process, with the police chief, the D.A. They acted very, very quickly in this case. We are very, very pleased with that. Other cases drag on, but this is a special case. We had a special son.”

Nichols’ mother, RowVaughn Wells, said she didn’t watch the body camera video of her son's confrontation with police and urged people to not let their children see it.

Law enforcement, Nichols’ family and the family attorneys have already seen the video that’s set to be released to the public Friday evening.

RowVaughn Wells said the five officers charged in connection to her son's death disgraced their families, but said she'll pray for them and their families.

She added, "No mother should go through what I'm going through right now. No mother. To lose their child to the violent way that I lost my child."