01/23/2012 03:53 pm ET Updated Jan 23, 2012

California Hiker Rescued From Millard Canyon In Dramatic Mission

In a daring mission caught on tape, a California teen was rescued while stuck on a cliff with a 100 ft. drop, KTLA reported.

The 19-year-old had gone hiking with three friends, but found herself precariously trapped on a ledge in Pasadena's Millard Canyon. A U.S. Forestry Recreation Technician noticed her and notified authorities.

The video was caught on the "helmet cam" of a Los Angeles County Rescue Deputy Paramedic who was lowered by rope to the hiker. He then secured her into a harness and they were both safely lifted, ABC7 reported.

"The young woman was very scared and nearly let go of the cliff to jump into the arms of Paramedic Deputy Ricky Hernandez as soon as he was close enough to reach out to her," said Sergeant Tom Giandomenico, who was the crew chief of the rescue, according to the Sierra Madre Patch.

"He motioned to her to wait, and was able to attach the safety harness before we hoisted her up into the rescue helicopter. If she had let go before we were ready, she would not have survived the fall."

Two other teens in the hiking group also had to be rescued. Both were trapped 40 ft. above the canyon bottom and had be helped by ground rescuers.

All three are unhurt.