Two bright circles coming out of a bright cloud.

Saw a really bright light outside my house. I went outside to investigate and in the sky was a bright glowing cloud.  Flying away from the cloud were two glowing objects. They were travelling in the same direction, but the trailing one was emitting light that pulsed out in semi circles behind it. They both seemed to be emitting light, like shining fog. The leading circle was faster and continued to the south, the trailing light turned and went south west.
I took photos and video.
Missile launch.  PD