The video, shot from a rooftop near the magazine's Paris offices, shows the brothers Cherif and Said Kouachi driving their black getaway car down a narrow street.
After being blocked by police, the men get out of the car and begin firing at the police vehicle, which can be seen reversing away.
The men were later killed by police gunfire after a siege in Danmartin-en-Goele, north of Paris.
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