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The attack took place outside a petrol station in Bloemfontein last week.
The CCTV footage shows the driver deliberately knocking over a pedestrian before exiting the vehicle and kicking the already injured man in the face.
The police's Itumeleng Pule said the driver was arrested over the weekend and appeared in court.
Pule said the pedestrian was rushed to hospital shortly after the incident and was discharged the same day.
“We don’t have the address of the victim because he was a homeless man.”
Click here to view the shocking footage: