The incident was captured on cell phone video after James Burdett tried to pick up his five-year-old daughter at the bus stop.
"I tried to get my daughter off the bus, he refused to open the door, so I dangled off the front of the bus, to try to stop him," Burdett said.
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Parents tell WCVB that there have been confusion after changes were made to the location of the stops. Burdett says once he was in front of the bus, things took a turn for the worse.
"I was scared, my daughter is on the bus, five-year-old telling him 'that's my dad, that's my dad'," he added.
Burdett says he didn't run out the way of the bus because it was too late.
"By the time I had to grab on because he was already going. He was already accelerating," he added.
Police were called to the scene.