In the video, viewed over 1 million times on the social media site, a woman in a wheelchair is seen being towed by a vehicle back to her house.
Pastor Lamond Rushing from the Faith Worship centre can be heard saying "Only in Kansas City. Only in Kansas City. Do y'all see this right here?"
After sharing the post on Facebook, some commenters made fun of the woman, later identified by Fox News 4 as Beck Kittrell.
Kittrell told the news network that her wheelchair had broken down and she was worried about the cold weather when the truck driver offered to tow her home.
She said the incident was not something to be laughed at but a "true act of kindness" and that rather than filming it, the pastor should have offered to help.
Pastor Rushing said that he had not filmed the incident to mock Kittrell but because it was something he had never seen before.
He said that he only realised that the post was in poor taste after he read comments on the video online.
He told Fox: "When I read the comments, I saw then... I want to apologise from the bottom of my heart."
Pastor Rushing has since deleted the video.