Authorities said the man was not injured. The video, released Friday, shows the moments after police first tried to detain him.
The incident began with a traffic stop, according to police. The driver then sped onto the Bay Bridge, pulled over, got out of the vehicle and climbed over the side of the bridge.
After hiding for a period of time, the man climbed back onto the bridge, where officers took him into custody, police said.
The temporary shutdown disrupted traffic during the evening commute before the situation was resolved.
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