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>> later on, the same hospital surveillance camera shows lambert's body brought back to the e.r., dead on arrival at 6:06 a.m., roughly an hour after police first took lambert from the hotel. >> local police declined to comment to msnbc. in court papers, police say the use of force was appropriate and necessary because mr. lambert destroyed property and was a danger to others. virginia state police conducted an investigation and prosecutors say a criminal inquiry is still open two years later. earlier this year, linwood lambert's sister filed a federal several rights wrongful death lawsuit aga...

>> i just did cocaine, man. why are you trying to kill me, man? >> reporter: but instead of taking lambert into the e.r., they put him under arrest and drag him back into the car. >> do it now, do it now! >> reporter: lambert slump doups, his hands and feet bound. the officer tells him to sit up and tase him again. >> sit up or i'm going to tase you again. >> federal guidelines warn multiple tasings may increase the risk of death or serious injury. yet nurses reported seeing three officers tasing the patient at one time. and the officers discharged their tasers 20 times in half an hour accordi...

Never took him inside for help. for lambert's family, it's been an agonizing mystery until now. new video, obtained exclusively by msnbc, shows every moment of a hospital trip that turned deadly. police rules caution against rookhis taseing, but officers tased him at the door to the e.r. again as he lay on the ground. then again in the squad car. discharging 20 tasings, including while he was restrained, a violation of their own rules. the incident unfolded in about an hour. it all began during an early morning in may two years ago. police responded to a disturbance call and say they found lam...

This is something they've been aware of. >> yeah. here's what i can also tell you, the state police handed over their investigation. we found a record in the south boston police department from march that they said in march of this year, the local prosecutor told them that she felt the officers had no criminal fault in lambert's death, which would suggest going towards no charges. but i spoke to that prosecutor today and yesterday. she said she was withholding final judgment, this isn't over. so that's the news here. not only have we done an investigation where we've broken this for the first ...

Of any crime. >> slide over here. >> reporter: officers told him to come to the hospital, handcuffing, but stressing he was not under arrest. >> we're not locking you up. what we're doing here, we're going to take you to the emergency room. >> we're in route to the er. >> reporter: arriving at the hospital, lambert kicks out the car window. and runs from the car towards the er entrance. the officers tase him. they shackle his legs. lambert pleads with the officers and tells them he did cocaine. >> i just did cocaine. why y'all trying to kill me, man? >> reporter: but instead of taking him into...