A North Jersey police sergeant was accused of driving while "highly intoxicated" in Mercer County in January 2014 - and his behavior was caught on video [see below].

Even after words were used to describe him as too "f----- up" to drive, he was released without charges into the custody of Jersey City police, and he remains on the job, according to nj.com and news12.com. The incident was documented in a video and police reports. The video, taken from the dashboard of a Robbinsville police officer, shows one officer telling Sgt. Vincent Corso, the Jersey City cop, that he is too "f------ up" to drive, according to the reports.

The release of the video comes after Robert Cowan, a former Jersey City police chief, cited the incident in a civil lawsuit he filed against the city, Mayor Steve Fulop and Public Safety Director James Shea, according to the reports. Cowan alleges in his lawsuit that he ordered an investigation into Corso's traffic stop over the objections of Fulop and Shea. The ex-police chief says Fulop tried to conceal the incident involving Corso, a local union official, because he wanted to curry favor with the union in advance of a gubernatorial run in 2017, according to the reports.

The traffic stop took place on Jan. 30, 2014 at 7:32 p.m. in Robbinsville when Police Officer Shawn Bruton pulled Corso over on Route 130, telling Corso he was speeding and had one headlight out, according to the reports. According to the video, Corso told Bruton he was "on the job" even after Bruton gave him warnings about his behavior.

"Are we OK here?" Corso asks at one point.

"Yeah, just sit in your car," Bruton says.

"Do we have a problem?" Corso later asks Officer Barbara Borges, who also appears on the scene, according to nj.com. "Yeah, we do have a problem," she said. "You're intoxicated and you're driving a motor vehicle."