In the video of the incident, which the family said occurred on Tuesday, the mother can be heard demanding her daughter’s return.

“They took my daughter, she’s 5 years old. She has autism spectrum,” the woman says in the video. “Give me my daughter back.”

The mother also explained that her daughter’s father “managed to run back into the parking lot of my house, but they grabbed the girl.”

The family said ICE agents challenged Edward Hip, a Guatemalan man who has lived in the United States for 22 years, to leave his home for his daughter.

“Is that your daughter? Come here so I can see those IDs,” an agent can be heard saying in the video, which shows him motioning toward the camera.

“Hey, I can give it through the door,” a man is heard saying in response.

“You can do it right here,” the agent says, pointing to the ground in front of himself.

The mother reported alleged harassment by the officers.

“They threatened us, saying that if we didn’t open the door within 15 minutes, they would enter the house,” she told Telemundo Nueva Inglaterra.

Leominster police arrived at the scene, recovered the child and returned her to the family.