The 35-year-old woman, who has not been identified by the NYPD, was followed into her residence by two men at around 6.40pm on Friday, with the robbery captured by a security camera installed in her living room.
The woman had just taken out rubbish to a bin outside her home, when two men followed her back into the building and then her apartment.
In the video, the woman is seen struggling with the two men while they hold her to the floor for close to a minute. One of the thieves held a gun to her head and threatened to shoot her throughout the exchange.
After around 40 seconds, the men, who were dressed all in black and whose faces were obscured by baseball hats and masks, dragged the woman into another room. The clip does not show the men entering or leaving the apartment.
The NYPD confirmed that the men stole around $3,000 (£2,154) in cash, multiple credit cards, two iPhones and a Louis Vuitton purse.
The video of the incident was released by the authorities on Monday, and they have asked for help from the public to help identify the two men.
The suspects were described by the police as having a “skinny build” with one of them “wearing a sweatshirt with the words, ‘OFF THE WALL’ on the back” during the incident on Friday.
Anyone with information is asked by the NYPD to call the Crime Stoppers Hotline at 1-800-577-TIPS (8477) or for Spanish, 1-888-57-PISTA (74782).
Information on whether the woman was injured in the incident was not released by the authorities. The Independent has contacted the NYPD for comment.
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