In the video, Margraves had just heard their emotional victim impact statements for the first time at Nassar's final sentencing.
The incident occurred during the third and final sentencing hearing for Nassar, who has already been sentenced to up to 175 years in prison after more than 250 women filed reports of sexual abuse against him.
After listening to his daughters testify about the abuse during the hearing in Eaton County Circuit Court in Charlotte, Michigan, Randall Margraves requested permission - as a distraught father - to speak.
Two of his daughters had given statements to the court.
Margraves asked the judge to "grant me five minutes in a locked room with this demon".
Here's the really interesting part, though: according to CNN the court released the man, Randall Margraves, with no charges or even a fine.
Margraves lunged towards the defence table but were soon tackled by three sheriff's deputies as he kept shouting, "I want that son of a bitch!"
If you followed the trial of Larry Nassar, the sports physician to the United States' female Olympians who was convicted of molesting over a hundred women in his care, there were a lot of shocking things that went on. Margraves yelled as he was being handcuffed. "I'm not here to upstage my daughters".
Earlier that morning Margraves charged at Larry Nassar.
During his afternoon hearing for contempt of court, Margraves expressed remorse for his actions and offered an apology. "God Bless you and your family", Robert Wykoski wrote.
He made the comments after his daughter Lauren Margraves had just finished telling the court that the "last year and a half of my life has been a insane whirlwind and there's no reason it should have been that way".
"I gotta hear that and I look over here and Larry Nassar is shaking his head 'no, ' like it didn't happen", he said.
Several other parents also addressed the court, speaking of their anguish at failing to protect their children. "Like it didn't happen, I lost control and I apologize 100 times", Margraves told the judge.
"I'm so sorry, my princess", he said. The lawyer, Shannon Smith, told radio station WWJ that she had doubts about the large number of women and girls who say they are victims. The judge corrected his language, saying she understood his distress, but couldn't legally allow it.
Nassar must listen to scores of victims before he's sentenced next week for sexual assault.
The Nassar case has triggered a wave of upheaval in the gymnastics world.
US Olympic officials have also been criticised by some of the sport's biggest stars, including gold medallists Aly Raisman, Simone Biles and McKayla Maroney.
In a statement cited by NBC News, Liukin said, "The present climate causes me, and more importantly my family, far too much stress, difficulty and uncertainty".