MILWAUKEE (CBS 58) -- Milwaukee Police Chief Alfonso Morales and Sheriff Earnell Lucas joined a peaceful protest Thursday afternoon.

Prior to hitting the streets, Chief Morales said MPD has been training officers on new ways to make arrests and traffic stops for two years. 

That's because of an agreement in an ACLU lawsuit.

"We've done so much work in the past two years to move past that and an incident in another state is pulling us back," Morales said. "And what i ask of the leadership in the City of Milwaukee is give us credit for what we've done."

"It just doesn't start or end with us," Sheriff Lucas added. "There has to be more, there has to be more engagement by our elected leaders, our community-based organizations, as well as our private sector. Everybody's got to play a part."

Morales and Lucas walked several blocks Thursday with a church group as an outreach to the community.