The source continued: "It was obvious he wanted to confront him but decided against it, turning and walking away, muttering angrily."
MailOnline has contacted representatives for Steve and Richard for comment.
In February 2011 Steve attacked the former Top Gear trio over comments they made about Mexico, accusing them of "casual racism" and calling Jeremy Clarkson a "bully" in the Observer. He also said their brand of humour revealed them to be desperately uncool.
Accusing Richard of being sycophantic towards Jeremy he said,'"His attempt to foster some Clarkson-like maverick status with his 'edgy' humour is truly tragic," he said.
"He reminds you of the squirt at school as he hangs around Clarkson the bully, as if to say 'I'm with him'."
Steve admitted to being a fan of Top Gear and in the past has appeared on the show three times.
He continued: "With Top Gear, it is three middle-aged men laughing at poor Mexicans. Brave, ground-breaking stuff, eh?," he wrote. The comments were about as funny as a cold sweat followed by shooting pains down the left arm."
He claims "the Lads" wear their offensive behaviour as a "badge of pride" and revel in the fact that they "annoy people."