Bailiffs tackled the father Friday morning in the courtroom.
After two of his daughters spoke, the father, Randall Margraves, asked the judge for "five minutes in a locked room with this demon." The judge said she could not do that.
Margraves then asked for one minute, but the judge said she also couldn't allow it. He then rushed at Nassar, who was sitting nearby.
MORE: What Randall Margraves said before lunging at Larry Nassar
Victim's father tries to attack ex-gym doc Nassar in courtroom
As he was flat on the floor and being restrained by bailiffs, Margraves still pleaded, "Just one minute." Then, as the bailiffs took him away, Margraves asked them, "What if this happened to you guys?"
Two of his daughters had given statements to the court. They said their other sister also had been molested by Nassar.
Crying could be heard in the courtroom as Nassar was escorted out. Assistant Attorney General Angela Povilaitis told families in the courtroom to "use your words" and that violence "is not helping your children."
"This is letting him have this power over us," she said. "We cannot behave like this. I understand this is a remarkable situation. But you cannot do this. This is not helping your children. This is not helping your community. This is not helping us."
As Margraves was being escorted out of the courtroom, he replied, "You haven't lived through it, lady."
Judge Janice Cunningham later said there's 'no way' she'll punish Margraves for his actions in the courtroom.
Margraves apologized a few hours after he charged at Nassar. Cunningham said a punishment isn't appropriate based on the crimes committed by Nassar and the anguish felt by families. But she also says it's wrong to "combat assault with assault."
Nassar must listen to scores of victims before he's sentenced next week for sexual assault. He's admitted molesting young gymnasts. He's already been sentenced to 40 to 175 years in prison in another county.
WATCH: Judge's full statement
Raw video: Judge's full statement in sentencing of Dr. Larry Nassar
This time the focus is on abuse that happened at the elite Twistars gymnastics club in Michigan where Nassar offered treatments. The young athletes who confronted Nassar on Wednesday saved some of their harshest words for John Geddert, an Olympic coach who operated Twistars.
WATCH: Nassar's full statement
Raw video: Dr. Larry Nassar gives statement during sentencing
They said Geddert created an ultra-competitive atmosphere, was indifferent to injuries and rarely offered gymnasts any choice to see a different doctor.
Geddert has been suspended by USA Gymnastics, the sport's governing body, and has announced his retirement. He transferred ownership of the gym to his wife.
WATCH: Aly Raisman delivers victim impact statement at trial for Larry Nassar
Aly Raisman delivers victim impact statement and much more at trial for Larry Nassar
The Associated Press contributed to this report.