George Simpson, Jr., was arrested after a passenger used a cell phone to record the 41-year-old apparently pleasuring himself while driving the crowded bus in the middle of the Lincoln Tunnel.
He later surrendered to police on charges of public lewdness, reckless driving, taking his hand off the wheel and risking widespread injury or damage.
Attorney Patrick Metz walked Eyewitness News through the cell phone video taken by his client as she commuted to New York City on June 25.
"She was sitting directly opposite the bus driver in the first row of seats," Metz said. "The outrage, the danger he was putting the other passengers in and the other commuters, it is unspeakable."
Simpson was suspended without pay.
A NJ Transit spokesman said: "We again offer our sincerest apologies to anyone who may have witnessed this unacceptable incident and would reiterate that the actions of Mr. Simpson do not reflect the dedicated, selfless contributions made each and every day by New Jersey Transit's hard-working employees.