Incredible footage has captured a Good Samaritan running into a road to save a child.

The heart-warming video shows the moment a woman leapt out of her car and runs at full pelt to rescue the escapee, who was later reunited with his family.

It happened between Valley Drive and Hillside Avenue, Gravesend, just before 7pm on Friday, but the heroic lady is yet to be identified.

WATCH: The incredible moment a child is saved by a Good Samaritan

The resident who discovered the footage says viewers will go from "shocked to smiling in two minutes".

He wishes to remain anonymous, with the view the story is about the Good Samaritan and not himself.

People commenting on Facebook, where the video has been shared in local community groups, have said it shows "how quickly these things happen".

One said, "hope the family are okay, and well done to the lady for her quick thinking". Another added, "what a lucky outcome".

Read more: All the latest news from Gravesend