Deputies came about 8:20 a.m. Thursday to the home in the 2200 block of South Christian Hills Drive after a caller said someone was trying to break into her home.
The shooter has now been jailed.
Brennan's mother says the video shows him holding his hands up and running away - then Zeigler allegedly fired a shot missing him.
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"She didnt really give me a chance to speak a lot, and I was trying to tell her that I go to Rochester High and I was looking for directions", Brennan said Friday.
"Exactly, and that's exactly how I feel".
Walker said he had woken up late and missed the school bus and then got lost trying to find his school. "And that's when I heard the gunshot", he says. "I'm 14; but I don't look 14", Brennan said. "I found out later that the only reason [Wimbley] missed is because he forgot to take the safety off". "I'm happy that I didn't become a statistic".
Lisa was at work when she got the call. She called her husband, who had a shotgun, to the door.
Investigators told her the family's Ring doorbell recorded the encounter.
"One of the things that stands out, that probably angers me the most is, while I was watching the [surveillance] tape, you can hear the wife say, "Why did 'these people" choose my house?'" mother Lisa Wright said. "'Who are, 'these people?'" Wright asked rhetorically.
"Over the last 24 hours I've been working with the leadership of the Oakland County Sheriff's Office and Rochester Community Schools and have been kept apprised of the awful incident which occurred yesterday in one of our neighborhoods".
The video was taken from Zeigler's home security system. "And I tried to run faster", Walker told WXYZ. She said that when she received a call from police she assumed it was about her husband, who's now deployed in Syria, but was shaken up when she learned what happened to her son. If I have a question, I should be able to turn to my village and knock on a door and ask a question. I shouldn't be fearful of a child, let alone a skin tone. "This is a decent neighborhood".
Oakland County Sheriff Michael Bouchard believes there is no way to justify what happened.
"I feel bad for the young man; I feel awful for the mom and the anxiety that they had to go through", Bouchard said.
But during a court appearance, Zeigler disputed the 14-year-old's version of events and said his wife was in tears after the teenager went up to their home in Rochester Hills.
Police determined that the male homeowner chased Brennan into the yard and fired at him with a 12-gauge shotgun after he knocked on the door.
The judge additionally ordered the Rochester man to not have direct contact with the victim or his family, and to surrender all of his weapons to the Oakland County Sheriff's Department. His bond was set at $50,000.