Salifou, along with Manchester City striker Emmanuel Adebayor, narrowly escaped injury in the half-hour ordeal but saw Kodjovi Obilale shot in the chest. Salifou said the goalkeeper - one of his best friends - is now fighting for his life in a South African hospital.
The team's Angolan driver was killed instantly, while an assistant coach and the press officer also died from their injuries.
Salifou told Villa's official website: "It was only 15 minutes after we crossed into Angola that the coach came under heavy fire from rebels. The driver of the coach was shot almost immediately and died instantly, so we were just stopped on the road with nowhere to go.
"Our security people saved us. They were in two separate cars, about 10 of them in total and they returned fire. The shooting lasted for half an hour and I could hear the bullets whistling past me. It was like a movie.
"I know I am really lucky. I was in the back of the coach with Emmanuel Adebayor and one of the goalkeepers.
"A defender who was sat in front of me took two shots in the back. The goalkeeper, Obilale, one of my best friends, was shot in the chest and stomach area and he has been flown to South Africa to undergo an operation to save his life.
"It was horrific. Everybody was crying. I couldn't stay in control myself and I cried when I saw the injuries to my friend."