Mr Albert was no longer a member of the New Zealand Defence Force, and was unable to attend a coronial inquest last November as he worked overseas.
Mr Albert had previously been criticised for his decision to take Mr Yaolase directly to the Medical Treatment Centre at Linton Army Camp, as opposed to calling an ambulance on the day he collapsed, Fairfax reported.
Today, Mr Albert told Coroner na Nagara the group was participating in a training exercise, when he saw Mr Yaolase stagger and drop to his knees.
"He lowered himself onto the ground, I thought he had done an ankle."
Mr Albert said he soon realised Mr Yaolase's condition was serious.
When he noticed he had stopped breathing he performed emergency CPR and managed to resuscitate him.
Mr Albert told Coroner na Nagara that he was left with two options - lie on the side of the road with no equipment and wait for an ambulance, or seek urgent medical aid.
"All I had was basic CPR... and I don't have a lot of faith in CPR.
"When someone stops breathing you need a defibrillation, airway and oxygen... I had none of that equipment. I was worried corporal Yaolase was going to die on the side of the road."
Mr Albert said he made the decision to take Mr Yaolase directly to the Medical Treatment Centre, and while travelling he was prepared to pull over and resume CPR if necessary.
He admitted he did not call ahead to warn the staff at the centre because he was concerned they would encourage him to call an ambulance.
Unfortunately Mr Yaolase's condition worsened once they reached the centre, and he died at Palmerston North Hospital 11 days later.
Coroner na Nagara thanked Mr Albert for his perspective and agreed it was a "difficult situation".
She has reserved her decision.
