A woman who was on the roof of a 54-story building was rescued by police officers in Manhattan last week, according to the authorities.

Bodycam footage captured the daring rescue by the New York City Police Department's officers as they scaled a glass wall to save a terrified woman standing on the ledge of a 54-story rooftop in Manhattan.

The 33-year-old woman was rescued last Wednesday at a Midtown building on East 29th Street, according to The New York Post.

Around 3:10 p.m., the NYPD's Emergency Service Unit (ESU) received a call concerning the woman, who was threatening to jump from the building, according to reports.

In a rapid response, officers from the ESU team accessed the rooftop and found the woman in a precarious position. They quickly climbed over the glass wall to reach her and safely bring her back to safety.

Further details about the incident and the condition of the woman following her rescue were not immediately available.