The struggle happened in April when police stopped Tyree Carroll as part of a drug investigation in Germantown.
Police said he bit two of the officers and did everything possible to avoid being handcuffed.
But Carroll's family said he was not resisting. They say he was defending himself.
His grandmother Nancy joined his legal team and activists to call for his release.
They also want access to his medical records and a Justice Department investigation.
"That video, calling him derogatory names, beating him, just an ongoing and constant barrage when he was clearly subdued and down was terrible conduct on the part of the police," said attorney Michael Wiseman.
The group is also planning a protest Saturday at noon beginning at the site of Carroll's arrest on Locust Avenue.
Philadelphia police have opened an internal affairs investigation.
They are still trying to identify all of the officers involved.