After hearing the request for Dijon mustard, the 22-year-old driver pulled a black handgun from his glove compartment, cocked the weapon and pointed it at the three people in the other car.
"Here's your Grey Poupon, roll your [expletive] windows up," he responded.
The confrontation happened June 18 at the intersection of 900 East and Winchester Street (6500 South) in Murray, court documents state.
One of the three people in the car wrote down the SUV's license plate number.
Murray police later located the man, who admitted to an officer that he pulled out the gun, racked the slide and threaten the other car.
He was charged Tuesday with aggravated assault, a third-degree felony.