What is the truth behind Delhi police Constable Sachin's kidnapping?

As per the Delhi Police, Constable Sachin was kidnapped by a bus driver Rajeev and his son who were later arrested. But a video of Sachin during the time he was kidnapped is going viral and depicts a different story altogether.

While the bus has been recovered from Madhya Pradesh, Sachin is safe, there is a lot of confusion over the truth of the incident.