In court yesterday, Pepper said he provided a jumper lead for Yates to start his car one early morning around that time.
Yates appeared agitated and tried to "get going" as quickly as possible, he said.
Once his car started, Pepper said he reversed his vehicle to drive away and saw a man fall out of the passenger's door of Yate's car and on to the road.
The man who fell out wore red gumboots and looked like he was drunk, he said.
Pepper said Yates got out of the car, ran around the back and gave the fallen man a bit of a "boof" or a rough shake-up and put him back inside.
"I thought the boof was unusual when you're trying to help a mate. He was lying on the road. He wasn't trying to do anything," he told the jury.
Pepper said he told the person with him in his vehicle: "S*** let's get out of here. This doesn't look right. I said to him 'get the rego and warrant' so he punched them into his phone."
Under cross examination by Ken Bailey, who is assisting lead defence lawyer Nick Leader, Pepper said there was no suggestion the driver opened the door before the man fell out.
He said the man who fell out could have opened the door.
The trial before Justice Mathew Downs will continue on Monday.Earlier, Moore's partner Shinella Simeon told the jury she unsuccessfully tried to stop him from going for a car ride with Yates as she did not trust the accused.