Down 97-95, Mavericks point guard Jason Kidd noticed Woodson standing on the court and drove into him, causing the contact and foul.
Woodson and Kidd argued after the play, and both had to be restrained from one another.
Dirk Nowitzki made the ensuing technical free throw, and the Mavericks went on to win in overtime, 111-103.
The play shed light on one of the major pet peeves of Los Angeles Lakers head coach Phil Jackson -- coaches who think they are sixth defenders.
"I've been talking about coaches being on the court for the last five years," said Jackson before the Lakers played the Philadelphia 76ers on Friday. "I brought it up at our coaches association meeting. Coaches have a box, that's where they're supposed to be, and they're not supposed to be on the floor. They're not players. We have a number of coaches who do that and actually defend from that position. They actually try to harass the opposing team. That's not what the game's about."
Jackson rarely stands during games and said that's the way it was when he was a kid and the way it should be now.
"From my standpoint, when I grew up coaches didn't get up except to maybe be seen to call a play, and then they sat back down," Jackson said. "This is a new advent of the past 20 to 25 years of coaches pacing the sideline and being active. It just wasn't part of the game."