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A jaw-dropping video captured the moment a car plummeted down an embankment and landed on its roof before the four people inside the vehicle miraculously managed to escape alive.

A five-minute clip from a Nest camera posted online by YouTube user Julia Brown shows the quiet, residential intersection in San Francisco, bathed in late afternoon sunlight, when the white sedan suddenly comes crashing down the Sanchez street stairs.

The car flipped as it tumbled toward the street, taking down a tree with it and hitting a parked car as it landed on its roof.

None of them remained at the scene as units from the San Francisco Fire Department arrived at the crash site moments later.

In the video, you can hear someone saying, 'I'm sorry, I'm so sorry,' and 'I've got to go.'

A second clip posted by Brown shows the car smashing through the guardrail on the street above the stairs.

The car's occupants can be seen exiting the scene, including one man with a skateboard, and a woman who appears to put her shoe back on before running away.

Two of the car's occupants are seen fleeing up the stairs away from the crash, as more onlookers gather from all directions.