Miller described how two carloads of people, including those accused of murder - Matthew McKinney, Hayden Ranson, Tariana Jones and Kristofer Jones - ended up near Mr Jones' after an evening commemorating the anniversary of their friend's death.
Footage of the interview with Constable Brendon Dyke at Masterton police station detailed how several members of the group began discussing an allegation against Mr Jones.
"He [McKinney] wanted to knock on the door and scare him," Miller said.
She denied seeing the four murder-accused go inside the motel complex where Mr Jones lived, and said she and a friend had waited outside the motel because they did not know where the group had gone.
"We stood by the motel and I heard someone, it was like a cry or a moan.
"Me and [a friend] took off. I don't know what they're doing and I don't want a bar of it," she told police.
"I was freaking out because I had a car full of people who had just gone and beaten someone up."
So far, evidence and statements from several police officers have been given in the trial.
Evidence from medical staff who treated Mr Jones after the beating and a pathologist have also been given as part of the Crown case, which is expected to finish tomorrow.
The defence is due to make its opening arguments next Monday.
The trial, which is in its second week, is set down for four weeks.
The court has been told Mr Jones had some disabilities, including learning difficulties and epilepsy. He lived independently at his small flat and had worked at a supermarket for 15 years.APNZ
