A mother dropped her child from a second-story railing and into the arms of a firefighter, according to KGO-TV.
Crews responded to the call shortly after 7 a.m. in the Ashland area.
On the video, neighbors can be heard screaming for help from firefighters to save the trapped children.
"We had heavy fire showing from the first floor window, we had a confirmed rescue on the second floor," Capt. Tom Pappas -- the firefighter wearing the helmet-cam -- told the news station. "A lot of the family members weren't able to get out and we had neighbors and parents saying that there younger children were still trapped on the second floor."
The veteran firefighter can be heard calling out to the children through a thick, black plume of smoke and crews later found two of them hiding in a closet.
The department is using the camera to review tactics and share what they face with the public.
It is unclear if the unit had working smoke detectors