British driver tweeted: "This is so upsetting to hear. Please say a prayer for my guys who are here as professionals today even if shaken.
"This happens every single year here. F1 and the teams need to do more, there's no excuse!"
Some of my team were held up at gun point last night leaving the circuit here in Brazil. Gun shots fired, gun held at ones head. This is so upsetting to hear. Please say a prayer for my guys who are here as professionals today even if shaken.
In a statement, Mercedes said: "Valuables were stolen but everybody is safe and uninjured which is the main thing."
The F1 champion's team were preparing for Sunday's Brazilian Grand Prix The F1 champion's team were preparing for Sunday's Brazilian Grand Prix
At the time of the robbery, Mercedes' world-championship winning team were returning back to their hotel after preparing for Sunday's Brazilian Grand Prix.
Staff from the FIA, the sport's governing body, and the Williams F1 team are believed to have escaped similar incidents on Friday night.
it is not the first time the Brazilian Grand Prix has been marred by threats against F1 teams and drivers.
Hamilton pictured during practice for the Brazilian Grand Prix Hamilton pictured during practice for the Brazilian Grand Prix
In 2010, a car carrying former Mercedes driver Jenson Button was approached by three gunmen near Interlagos circuit.
Button described his driver as a "legend" after he managed to flee through traffic.
The Briton said: "We got in between six cars to get past and got away. Looking behind there were two guys with a handgun and one guy with what looked like a machine gun.
"It was a pretty scary situation - it's not a very comfortable feeling, not great."
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