CBS News got a rare look inside a new U.S. Immigration and Customs Enforcement detention center in Newark, New Jersey, where Newark Mayor Ras Baraka was arrested last week. Baraka was charged with trespassing and was taken into custody during his visit to the ICE detention center on Friday.

Newark Mayor Ras Baraka was arrested Friday at an ICE Detention Center where he was protesting its opening. The arrest came after Baraka tried to join a scheduled tour of the facility with three members of New Jersey’s congressional delegation.

Rep. Bonnie Watson Coleman and other protestors demand the release of Baraka after his arrest at an ICE detention prison on May 9 in Newark, New Jersey. | Angelina Katsanis/AP The interim U.S ...

Newark Mayor Ras Baraka, who is also a gubernatorial candidate in New Jersey, was arrested on trespassing charges during a scene involving protesters, members of Congress, and federal agents at an Immigration and Customs Enforcement detention facility.

Newark, New Jersey Mayor Ras Baraka, arrested by federal officials on Friday while protesting the opening of an immigration detention center in the city, has been released.

Video provided to Fox News by DHS shows two of the politicians in an angry confrontation with ICE agents at a security checkpoint.

Congressional lawmakers on Friday made their way into an ICE facility in New Jersey, claiming they were there to conduct an "oversight visit."