Miller described how two carloads of people including those accused of murder - 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 the Masterton police station, detailed how several members of the group began discussing an allegation against 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 didn't 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 Mr Dyke in the interview.
"I was freaking out because I had a carful 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, which is before Justice Alan MacKenzie and a jury of seven women and five men. 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 on Wednesday.
The defence is due to open its case next Monday.
The trial, which is in its second week, is set down for four weeks in total.
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.
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The accused:
* Kristofer Jones, 23 - pleaded not guilty to murder and aggravated burglary with a wooden bat and an axe handle
* Tariana Jones, 33 - pleaded not guilty to murder and aggravated burglary with a wooden bat and an axe handle
* Matthew McKinney, 29 - pleaded not guilty to murder, but guilty to aggravated burglary with a wooden bat and an axe handle
* Hayden Ranson, 28 - pleaded not guilty to murder , but guilty to aggravated burglary with a wooden bat and an axe handle.
* Toni Miller, 23 - standing trial for a charge of aggravated burglary with a wooden bat and an axe handle