The 19-year-old son of the Italian football legend also alleged the group were “spitting and kicking” at the car he was in.
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Pirlo posted a video of the group to his Instagram story on Thursday evening.
In the footage, the vehicle Pirlo was in draws up alongside the group, who pulled up their hoods to cover their faces.
One of them then appears to throw something in his direction, before the camera quickly turns away.
Pirlo captioned the video: “Is it normal to find four boys in the centre of Turin throwing stones at the car, spitting and kicking?”
He also said on social media, according to Torino Today: “I was in the car with a friend and this group of guys tried to get into the car.
“Then they kicked our car and threw stones at us. Luckily we never got out of the car.”
Pirlo then took to his Instagram story again on Friday, reassuring his followers that he was “fine” following the ordeal.
He captioned a video message: “Regarding yesterday’s events: I’m fine, thanks for the messages.”
Pirlo added: “Thanks for everyone who cared about me.”
While in the message he said: “Hi guys, I just wanted to let you know I’m ok and thanks for your messages.
“I’m not going to say anything else on it, I’ve seen the news articles but I don’t want to add anymore. I don’t want to make this a media circus, I’m not interested in that.
“I just wanted you all to know that fortunately I’m ok and that’s it.”
According to Football Italia, Pirlo lives in Turin while dad Andrea is currently manager of Turkish side Fatih Karagumruk.
The 43-year-old Italian football icon spent four years as a player in Turin with Juventus, before managing the club in the 2020-21 season.