The video shows the off-duty agent reaching for the gun and allegedly accidentally firing the weapon, hitting another patron in the leg.
Bishop was partying at Mile High Spirits, a distillery and dance club in the Ballpark neighborhood, while off duty. Denver police said last week that the agent could face possible charges pending the results of lab testing to determine if alcohol was a factor.
"We are filing this charge now rather than waiting until the BAC report is received, which we understand could take another week", District Attorney Beth McCann said.
Camera IconThe gun can be seen falling out of his pocket after he attempts a backflip on the dancefloor.
It accidentally fired when Bishop went to pick it up.More news: Salah remains a doubt for match against Uruguay-Egyptian FA
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Spokeswoman Amy Sanders said: "The FBI will continue to fully cooperate with the Denver Police Department and the Denver District Attorney's Office as this matter proceeds through the judicial process".
Video from the June 3 incident shows Bishop landing a backflip at the Mile High Spirits bar, and reaching down to pick up the weapon that had fallen from his trousers.
Multiple sources told 9Wants to Know that Bishop is not assigned to the Denver office and works out of Washington D.C.
"But when I saw him do a backflip, I couldn't help but laugh", Reddington told ABC News' Good Morning America.
"Then I looked down at my leg and see some brown residue, ..." I'm still thinking it's a firework. all of a sudden from the knee down my leg became completely red. "And that's when it clicked in my head, 'Oh, I've been shot'".