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An occupant can be heard telling another family member to "quickly" close an open car window.
The big cat approaches the front left window seconds later and peers through the glass before lunging at the window.
Park officials said the leopard was the same animal that was later euthanized after attacking a tour guide.
"The people in this vehicle (who took the video) did nothing wrong and acted according to the book by closing their windows in time," the video's description reads.