The mayor reportedly told Richardson he was being disrespectful to the troops.
"You have one of two choices, sir. You may stand up for the pledge, you don't have to say it, but please stand," Rees said.
When Richardson refused, police escorted him out of the meeting.
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"He doesn't stand for the invocation because he's not religious and he doesn't stand for the Pledge of Allegiance for the same reason," said Andrew Seidel, attorney with the Freedom From Religion Foundation.
The organization has filed a complaint against Winter Garden and the mayor. The complaint states government cannot force citizens to stand for the pledge and "local governments should not be in the business of writing and saying prayers."
Winter Garden leaders are now considering whether they need to make changes with the way meetings begin.
"We're hoping to by the next meeting have a recommendation for our commission on how to proceed going forward," said Winter Garden City Manager Michael Bollhoefer.