According to Deryl Nelson, his supervisors were not impressed with the video and he was terminated for "conduct unbecoming of a public employee."
Melissa Parsons posted the video online after capturing it on her cellphone because she didn't think Nelson's moves were appropriate for children to see.
"As a parent and seeing all the parents that were covering their kids eyes and turning their heads away, it wasn't something you would expect to see in Coolidge Park or anywhere from a grown man, especially a man in uniform," Parsons told NewChannel 9 WTVC.
"He went all the way to the ground, he came back up from the ground, he was grabbing areas that you would see on a rated R movie."
According to city records, Nelson was suspended for five days for "addressing inappropriate remarks to a co-worker" in 2013.
Nelson started dancing at the park after he jumped in with a group of visitors who were doing the Macarena. The 51-year-old plans to keep grooving, with or without his job.
"It's all about enjoying what you do and that's the way I feel," Deryl told WRCB. "Clean fun. It's nothing like doing any bumping and grinding. People just have nothing else to do but bash people. No twerks, no jerking, no nothing."