"Bill! Let's go!" the president is heard yelling, before walking out of view.
About a minute later, when Clinton still had not boarded, Obama walked back to the entryway and yelled "Let's go" yet again, clapping and waving impatiently.
When Clinton ignored him a second time, Obama sighed in annoyance.
The president eventually grew so impatient that he walked out onto the stairs, motioned at Clinton to come in and yelled "Bill! Let's go, I'll take you home".
It was only then - after hollering at the former president for a third time - that Clinton walked up the stairs at last.
As he walked up the stairs, Clinton raised up his arms as if to say "Sorry, not sorry".
The two then shook hands and boarded the plane together.
Since the beginning of his presidency, Obama has made it a point to eat dinner with his wife and daughters every night.
According to his official schedule, Obama is estimated to get back to Washington, DC around 7:30pm on Friday, after making a stopover in Bangor, Maine to refuel.