Dramatic video captures the moment a Good Samaritan pulls a mother and daughter from a burning RV.

Fire department officials in Clermont, Florida, say the flames broke out of the 20-foot RV’s engine on U.S. 27 as three people were traveling to Michigan.

Ross Thompson and his son just happened to be driving by and saw the flaming RV. Thompson went to help while his son recorded the incredible rescue on his cell phone.

Thompson told Elisabeth Hasselbeck on "Fox and Friends" today that he saw a foot coming through the back window of the SUV and that's when he realized there were still people trapped inside.

"The entire front of this RV was fully engulfed, so they didn't have any way to escape," Thompson explained. "That's when we sprang into action."

"God put me in the right place at the right time to help these folks out."

Thompson, who happens run a business called "The RV Doctor," said he was concerned about the fire working its way back to a 100-pound propane tank, which would have made the situation much worse.

Thompson said that when he managed to get them out through the back window, their mouths and faces were covered in black soot.

"It was just horrifying. Had to get them out."

Watch more from "Fox and Friends" above.

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