For the first time the family of a man accused of killing a Good Samaritan and shooting a police officer speaks out. The bizarre scene unfolded after police say Jesse Miller was in a car crash, then took aim at a man and a police officer who stopped to help.

The Miller family says they're surrounded by rumors and misconceptions because their father, Frazier Glenn Miller, is a well known white supremacist. Miller's brother says his deadly shootout had nothing to do with his father's beliefs.

Frazier Miller showed KSPR home videos of his brother Jesse Miller. Miller is seen break dancing and fooling around. Frazier Miller says, "Everybody viewed him as a kind person a good person not an angry person." His family says he was kind. Investigators say he was a killer.

Investigators say after Miller was in a car crash in Marionville last month, he suddenly shot and killed a complete stranger, and injured a police officer. Jesse Miller's mother was in the car.

“My mom says the accident was so hard she thought she'd died when the air bag hit her," Frazier Miller says. "She said Jesse didn't say anything before he got out. Maybe he thought he had to defend himself."

The family says they don't know why a man who loved music and his three step children snapped. "From that Monday through Friday he wasn't sleeping very good at all," Frazier Miller says. "He'd probably been up all night that before it happened." A lack of sleep and a fight with his wife early that week could have caused Jesse Miller to act out, his brother says: "He also told my sister to sue the Springfield Police Department if anything happens to him."

Police reports show Jesse Miller had two run-ins with Springfield police the same week of the Marionville shooting. He was arrested for domestic assault but charges were not filed before his death.

Says Frazier Miller: "Whatever they said however harsh they were, it really bothered him." So much that Jesse Miller went to the Busch Municipal Building to demand that the City of Springfield pay for damage done to his home while he was in jail. Jesse Miller’s door was damaged, but police say they did not kick it in during the arrest. Frazier Miller says despite rumors, his brother did not hate law enforcement: "My family is not full of anger and vengeance to society."

Frazier Miller says he has done a lot of explaining over the years because his father's white supremacist beliefs: "He had one of the largest white organizations in the '80s with 5,000 followers that was a lot of our childhood." But he says he and Jesse denounced most of their father's beliefs. “He believes that there should be equality for white people," Frazier Miller says, "and Jesse agreed with my father on that.”

Frazier Miller says he wants the community to know his family is not only mourning the loss of Jesse, but they are sorry for his actions. They say they don't want him to be remembered as something he was not. "People don't understand that you can be raised that way and not be different when you get older," he says.

Jesse Miller's family offered condolences to the family of the man Miller killed and the officer Miller shot. Joseph Rich was a tattoo artist who stopped to help Miller and his mother after the crash. Police say Miller shot him with a shotgun. Marionville police officer Andy Clark is still recovering after Miller shot him in the neck. Clark won't come back to work until the Missouri Highway Patrol finishes its investigation.