The fire broke out Monday night in a two-story home at 912 Lester Ave. in Mamaroneck.
While firefighters focused on battling the flames, four officers noticed several people trapped on the second floor.
In the bodycam video, officers can be seen using a ladder.
They were able to quickly rescue four people, including an infant.
Two other people on the first floor, managed to escape on their own.
Everyone is expected to be OK.
The Red Cross says it's assisting the families who have been displaced.
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