Police say Trimane Kimbrough took a car at gunpoint in the Rogers Park neighborhood on May 2.
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Later that day, he was spotted by Chicago police in that car on DuSable Lake Shore Drive near Chicago Avenue.
Officers boxed him in, but he jumped out and fled across the street and into a Northwestern building, prompting a brief lockdown.
Kimbrough is being held without bail.
ABC7 obtained the video through a Freedom of Information Act request.