President Obama and First Lady Michelle opened up to People magazine in a soon-to-be-released story, saying they've experienced racial bias in the U.S. but see improvement.

"There's no black male my age, who's a professional, who hasn't come out of a restaurant and is waiting for their car and somebody didn't hand them their car keys," Obama said in the interview, noting that scenario has happened to him.

The first lady has experienced similar situations.

"I tell this story – I mean, even as the first lady – during that wonderfully publicized trip I took to Target, not highly disguised, the only person who came up to me in the store was a woman who asked me to help her take something off a shelf. Because she didn't see me as the first lady, she saw me as someone who could help her," Michelle Obama said.

The magazine's story, scheduled to be released Friday, comes at time when stories about Michael Brown in Ferguson, Mo.; Trayvon Martin in Sanford, Fla.; and Eric Garner in New York have captured national headlines.

Click here to read more of the Obamas interview with People.