Transport Secretary Chris Grayling knocked a cyclist off his motorcycle outside Parliament in what his spokesman told was an “unfortunate accident”.
A spokesman told Mr Grayling went to check the cyclist was penalty and apologised for what had happened.
The two are then find to shake hands, following the incident on 12 October.
The footage has only emerged now after Laurence de Hoest, who was cycling behind Mr Liu and wearing a helmet camera, decided to publicise it after a tale in Cycling Weekly reported Mr Grayling saying cycle lanes “cause too much of a number of problems for road users” in London.
Mr Grayling’s vehicle was stationary in traffic outside the Palace of Westminster when Mr Liu passed it on the inside.
The accident happened on a busy road heavily used by cyclists, about 20 metres before a cycle lane is restored.