Obama and Clinton both attended the funeral on Friday in Israeli capital Tel Aviv and flew back to the US together on the Air Force One, Time magazine reported.
Before they departed, video captured by Sky News showed Obama waiting inside the doorway of the plane, clapping at Clinton on the tarmac below.
Appearing to grow impatient, Obama eventually stepped outside to get the former President's attention.
"Bill," Obama called from the steps of the Air Force One, waving Clinton toward the plane.
"Let's go. I'll take you home," he said.
It took another round of shouting from Obama before Clinton sauntered up the steps to the door of the aircraft, CBS News reported.
"Bill!" Obama said again. "Let's go! I gotta get home!"
Eventually, Clinton boarded the plane, greeting Obama with a handshake and a pat on the back.