Mr Muir, whose legs have both been amputated, said he had intentionally disrupted Parliament to draw attention to people like himself who needed to help but were being ignored.
"I've just had enough and nobody will talk to me ... nobody wants to know."
"I came to Parliament today to do just one thing, and that was stop the House, and that's what I did, so I'm happy with that."
Mr Muir, whose legs have both been amputated, said he had intentionally disrupted Parliament to draw attention to people like himself who needed to help but were being ignored.
"People like myself need help and nobody wants to help," he said.
"I've been to the local MP, Chris Hipkins, in Upper Hutt Valley - they just write letters and letters and nothing happens.
He said he was living off the local food bank and had had requests for more assistance from Work and Income New Zealand rejected.
Parliament's security manager Janette Smidt told APNZ the security guard who was driven into had not been injured, but described the situation as "a difficult one to handle".
Mr Muir had previously visited Parliament, although Ms Smidt said she could not remember any other occasion when he had caused problems.
The trespass notice issued today was for two years.