The incident happened Sunday just before 11 p.m. inside a building near 81st Street and Madison Avenue.
The video shows the intruders with their heads covered in addition to the 68-year-old victim and the building's doorman.
Detectives say the four thieves followed the resident into the building, flashed guns and then demanded they be let into his unit.
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They forced the victim and the 67-year-old doorman into the elevator and then into his residence.
The suspects took around $10,000 in cash and jewelry.
All four suspects got away in a dark-colored minivan. They are all believed to be between 20 to 30 years old.
Anyone with information is asked to call the NYPD's Crime Stoppers Hotline at 1-800-577-TIPS (8477) or for Spanish, 1-888-57-PISTA (74782).
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