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'My guardian angel': Woman meets man who rescued her son from burning car

“If he would not have been persistent and stuck on that, my son would be dead right now and I would be planning a funeral. My guardian angel saved my baby."

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A heroic rescue caught on camera shows a man pulling a driver from a burning car in St. Louis, Missouri.

Antonio Morgan rushed out of his car to help save Kielen Robinson when he saw the 23-year-old inside the fiery car, KMOV reports.

“I am pulling. He’s not coming. I saw his seat belt. The smoke was right there in my face. I unhooked his seat belt and pulled him out,” Morgan told the news outlet.

“Those flames started right after the smoke. It was hot,” he added. “The bust went boom. You heard something blow, something under the hood.”

Another man helped Morgan by using a fire extinguisher to put out some of the flames as he pulled Robinson from the car.

“That last pull I was out of energy,” he said. “I was rushing. My adrenaline was rushing."

Morgan's son had recorded the video of the rescue.

Kim Johnson, Robinson's mother, received a call about what happened and saw the video shortly after.

“When I saw the video I just broke out in tears. So many emotions," Johnson told KMOV.

She was able to meet Morgan later that day to express her gratitude.

“If he would not have been persistent and stuck on that, my son would be dead right now and I would be planning a funeral,” she said. "My guardian angel saved my baby. This man, hallelujah, thank you, Jesus."

Robinson's family says he is recovering. They are excited to introduce him to Morgan, someone they now consider family.

“If it was not for this man being persistent, going back and forth to the car and not giving up, my nephew would not be here today,” Christy Johnson said. “He is definitely part of our family now.”