A black family and their friends were followed around Berkeley on Memorial Day weekend by a white woman who told them to 'get out' of the town and that they didn't belong there

A biracial family was followed through Berkeley, California, by a white woman who grabbed them, ripped the shirt of one woman and told the group 'you don't belong here'.

Lauren Milewski, 31, first approached Essex Cook 30, as he, his family and some friends of theirs were walking through the city during Memorial Day weekend, Berkeleyside reported.

Believing she was walking so close to him because his group were taking up too much of the sidewalk, he offered to let her go around them - but she declined, and instead began to harass them.

Video taken during the incident shows her telling the group: 'You don't belong here. Get out of Berkeley. Get out of here. You don't belong anywhere'.

Essex, who had the darkest skin in the group, said the woman appeared to be the most focused on him when spouting her vile remarks.

A woman is heard telling her to stop and move back from them, but Milewski is not deterred.

During the altercation, both Essex's girlfriend and his cousin, Elexia, tried to intervene and get Milewski to stand down, but instead the 31-year-old attacked her.

Essex Cook (pictured left) and his pregnant partner were part of the group. Essex, whose partner is five months pregnant, says the women, Lauren Milewski, appeared to be targeting him the most

Elexia, 24, alleged Milewski grabbed her braids and her dress, and the pair scuffled in nearby bushes, where the woman hit her.

Elexia Cook allegedly had her braids pulled and was hit by Milewski as she tried to defend her cousin

Essex managed to get the woman to release his cousin, but despite the group's pleas to just leave them alone, Milewski then allegedly ran up to a new mother, ripping off her shirt and her breastfeeding bra.

Her chest was left scratched and exposed as her 15-month-old son screamed nearby.

In another part of the video, a man believed to be Essex can be heard pleading for other groups in the area to 'be a witness' for them when the police arrive, but Elexia says most people chose to ignore them.

'We were so loud and people were walking by not even making a noise, trying not to look at us, acting like they didn't even notice,' she said.

'It just made me feel very uncomfortable.'

Being a black family, the Cook's said they were additionally stressed when police did arrive, they would believe anything Milewski said over their version of events.

Finally though, a white family nearby stepped in to help, calling the police on the woman, and waiting for officers to arrive so they could provide a statement.

When police came, Milewski tried to turn the tables, telling an officer the group were a 'mob' who had assaulted her.

But it was her placed in handcuffs, as the officer recognized her and knew she had a history of aggression.

The Cooks did not press charges, but Milewski was arrested on suspicion of public intoxication as well as violating probation after a prior grand theft charge.

She was charged in 2017, spent some months in jail before being released on five years probation.