The Denver suburb of Aurora has agreed to pay a $1.9 million settlement to a family following a 2020 incident where police officers drew their guns on a woman and four minors after mistaking their car for another vehicle that had been stolen. A video of the group lying on the ground went viral online shortly after the incident.

The family, who are all Black, could be seen lying on the pavement in a parking lot while the driver, Brittney Gilliam, is seen handcuffed and being walked by officers away from the minors.

Gillam’s 12-year-old sister and 17-year-old niece were handcuffed and lying down on the pavement. Her 6-year-old daughter and 14-year-old niece were also seen lying on their stomachs in the parking lot. The children can be heard crying and screaming as onlookers question officers and try to intervene.

6-year-old Lovely Gilliam looks up at a police officer as she and her family members lie in a parking lot after they were wrongfully forced out of their car on Aug. 2, 2020, in Aurora, Colo.

Lovely Gilliam, 6, left, looks up at a police officer as she and her family members lie in a parking lot after they were wrongfully forced out of their car on Aug. 2, 2020, in Aurora, Colo. Police mistakenly believed the vehicle, driven by Brittney Gilliam, was stolen.  (Aurora Police Department via AP)

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Amid shouting and crying, the police soon realized their mistake. 

Officers later determined the vehicle they were seeking had the same license plate number as Gillam’s but was from out-of-state – the missing vehicle had a Montana plate, instead of one from Colorado. Police also said the mix-up could have been linked to the fact that Gillam’s vehicle was stolen earlier in the year before it was later recovered.

The lawsuit had claimed the police officers’ actions were evidence of "profound and systematic" racism, a lawyer for the family, David Lane, announced Monday.

Lane said the settlement saved the girls the trauma of having to relive what happened during a trial and that the money 

"All parties are very satisfied with this settlement," said Lane. Who added that the money will be evenly divided among Gilliam and the four girls, with the girls’ portions being placed into annuities so the money will grow by the time they access it when they turn 18.

In a written statement, the city confirmed a deal had been reached.

body cam screenshot of a police officer points his gun at four young girls lying facedown in a parking lot

 Four young girls lying facedown in a parking lot after they were wrongfully forced out of their car on Aug. 2, 2020, in Aurora, Colo. (Aurora Police Department via AP)

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"The Aurora Police Department remains committed to strengthening the relationship with the community through accountability and continuously improving how it serves the public," it said.

For the first year, Gilliam said the encounter with the police had left her full of rage and anger, as she could not do anything to help the girls. 

"Mentally, it destroyed me because I felt like not only am I not safe, these kids aren’t safe," she said in an interview before the settlement was announced.

Gilliam said she was taking the girls to get their nails done when she pulled over to find an open salon. When police surrounded her vehicle, she said she offered to show her registration, proving that she owned the car but was placed in handcuffs first. The incident came more than two months after the death of George Floyd, which led to nationwide protests and riots.

People march in the street to protest the death of Elijah McClain in Aurora, Colorado.

People march in the street to protest the death of Elijah McClain on July 25, 2020 in Aurora, Colorado.  (Michael Ciaglo/Getty Images)

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This settlement also marks the latest payout Aurora has been forced to make following police misconduct. 

The city settled for $15 million in 2021 with the parents of Elijah McClain, a Black man who was killed in 2019 after he was stopped as he walked down the street. Police placed him in a neck hold and injected him with a sedative. One police officer was also convicted in his death and two others were acquitted. Two paramedics were also convicted.

Fox News’ Danielle Wallace and The Associated Press contributed to this report.