There were 4 lights like circles in the sky shaped similarly to a square going in a circle and then coming together and expanding

We are heading back to Pennsylvania, we went passed hartland Michigan almost passing Brighton Michigan and we seen strange lights in the sky, we seen them from a distance and thought it was the light that shines for airplanes. The closer we got the more we seen that it was 4 lights formed into a square and they were going in and out like expanding and it disappeared. I recorded it and there was no building that could have possibly did this.