The 45-year-old also recounted how both she and her boyfriend struggled with opioid addiction.
The lawyers for Mr. Floyd's family said thousands of people who are addicted to drugs "are treated with dignity, respect and support, not brutality". "We both suffered from chronic pain: mine was in my neck, his was in his back".
She said they "tried really hard to break that addiction many times".
Prosecutors had called Mr. Floyd's girlfriend, Courteney Ross, to the stand and were the first to ask her about Mr. Floyd's drug use, seemingly in an effort to head off the argument from Mr. Chauvin's lawyer that drugs could have caused Mr. Floyd's death or led him to struggle more with the police.
It was also apparently to explain his drug use to the jurors and perhaps get them to empathise with what he went through.
Chauvin, 45, is charged with murder and manslaughter, accused of killing Floyd by kneeling on the 46-year-old Black man's neck for 9 minutes, 29 seconds, as he lay face-down in handcuffs, accused of passing a counterfeit $20 bill at a neighbourhood market. The most serious charge - 2nd-degree murder - against the former officer carries up to 40 years in prison.
Reviewing video footage from the scene, Bravinder described how he gestured for Chauvin to move so the paramedics could slide Floyd onto their gurney.
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In opening statements on Monday, Prosecutor Jerry Blackwell told the jury that Mr Chauvin had "betrayed his badge" by kneeling on Mr Floyd's neck, and using "excessive and unreasonable force" to detain him.
In a central dispute of the trial, his lawyers have argued that Mr Floyd's death, ruled a homicide at the hands of police, was really an overdose caused by the fentanyl found in his blood at autopsy.
Mr McMillian, the first bystander on the scene, can be heard on video at one point telling a handcuffed Mr Floyd "you can't win" and to get into the back of a police squad vehicle. "Tell my kids I love them".
Ross testified that they both struggled with opioid addiction.
She said they both had prescriptions, and when those ran out, they took the prescriptions of others and also used illegal drugs.
Upon arriving, Bravinder said there were "multiple officers on top of the patient", making him assume a struggle was ongoing.
"If I would have just not taken the bill, this could have been avoided", said Christopher Martin, a cashier at Cup Foods. It's something I'll deal with forever.More news: Derek Chauvin trial: First footage shown of George Floyd inside shop
Ms Ross broke down in tears when she was shown a photo of Mr Floyd, which she called a "dad selfie". Another officer checked Floyd's wrist for a pulse and said he couldn't find one.
She suspected he began using again about two weeks before his death because his behaviour changed.
Ross told the court that she believed that Hall had sold him drugs from time to time, and she didn't "particularly like" him.
UPDATE, 10:30 a.m. ET: The first witness on Thursday is Courteney Ross, a woman who met Floyd in 2017 and was in a relationship with him.
She told the court she had started filming on her phone because she "saw a man terrified, begging for his life". "It's one of my favourite stories to tell".
She was waiting in the lobby to see the father of her son, exhausted after closing up the coffee shop where she worked. Floyd came over to check on her.
"Mr Floyd has this great Southern voice, raspy".More news: Suspect in attack on Asian American woman in New York City arrested
Under re-direct questioning from prosecutors, Ross clarified that Floyd also called his mother "mama".
"This kind person, just to come up to me and say, 'Can I pray with you?' when I felt alone in this lobby, it was so sweet", she continued.
She added: "At the time, I had lost a lot of faith in God".
Minnesota is a rarity in explicitly permitting such "spark of life" testimony ahead of a verdict. Defense attorneys often complain that such testimony allows prosecutors to play on jurors' emotions.
Lane's bodycam video shows Floyd saying "Please don't shoot me" as he is pulled out of his vehicle outside the store where he paid for a pack of cigarettes with a counterfeit $20 banknote.
Mr Bravinder said after he drove the ambulance three blocks and jumped in back to help his partner, a monitor showed that Mr Floyd had flatlined - his heart had stopped.More news: Mass. officials not told to expect delays in shipping Johnson & Johnson vaccine
Floyd is handcuffed and taken to a squad auto where he becomes increasingly distressed and struggles with the officers who are trying to put him in the back of the vehicle. "We gotta control, gotta control this guy because he's a sizable guy".