Chapman and bail bondsman Bobby Brown told Colorado Springs police they were fired on while chasing 35-year-old Hoang Nguyen last month after Nguyen missed a court date on a domestic violence charge.
The pursuit was being videotaped for A&E's "Dog the Bounty Hunter" reality TV show.
Chapman and Brown say they weren't injured.
Chapman says he's satisfied with the outcome and that Nguyen apologized to him.
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