WATCH: Dad, daughter booted from flight after 'eavesdropping' staff felt 'threatened'

Video has emerged showing the moment a father and daughter claim they were thrown off a flight for complaining about service.

Eric and Whitney Miller were removed the a Frontier flight in the US out of Florida.

The video does not show the family’s initial conversations with staff but they say they were removed after attendants overheard them complaining about delays.

“What did we do wrong? Why are we getting kicked off the plane?” Whitney asks in the video.

A staff member then reveals they are calling the police. Workers claimed they felt threatened and Frontier Airlines has claimed the pair were verbally abusive.

The Millers insist they were frustrated after an eight hour delay, but had behaved cordially.

“This is the most loathsome experience I can actually say I've indulged in 70 years of flying on an airplane. This is absolutely incredible!” Eric Miller, 70, exclaims in the video.

“We have a conversation, you're threatened and we are going to have to leave after spending 12 hours in this airport waiting for this plane to leave. Absolutely shameful!”

Another passenger, Jocelyn Gonzalez, filmed the confrontation and uploaded it to Facebook.

Frontier Airlines defended its staff in a statement.

“Our Flight Attendants are customer service and safety professionals who are trained to recognize situations that may impact comfort and safety of passengers and crew onboard our aircraft,” it said.

“The behaviors and comments exhibited by these passengers prior to departure were inappropriate; and as a result they were asked to leave our aircraft. Safety and security of our passengers and crew is our number one priority.”