Field Derivation
Assuming we already know the Lagrangian for a charge in an electromagnetic field:
then according to Lagrange's equation
we have
.
Comparing this with the Lorentz force equation
we have
and
.
If we calculate the curl of E and the divergence of B we will find:
and
.
The second pair of Maxwell's Equations can be derived in almost the same way, but require more detail. So for convenience we will just list the results:
and
.
This derivation can be found via the reference [1].
[1] L.D. Landau and E.M.Lifshitz, The Classical Theory of Fields , Revised Second Edition