SAN MATEO COUNTY, Calif. (CBS) — A California man is under arrest for allegedly attempting to kill his wife and two children by driving off a cliff in Northern California on Monday.

A dramatic video shows the rescue of the family after the Tesla veered off the highway and plunged off a 250-foot cliff.

Dharmesh A. Patel, 41, of Pasadena, Calif., was arrested later Monday on attempted murder and child abuse charges, according to California Highway Patrol.

More than 30 rescuers and three helicopters were involved in the rescue just south of the Tom Lantos Tunnels by Devils Slide.

A 9-year-old boy and a 4-year-old girl suffered minor injuries and both adults had non-life-threatening injuries.

Battalion Chief Brian Pottenger with Coastside Fire Protection District said it was a miracle that all four people survived.

The crash was reported before 11 a.m. by witnesses and by 3:20 p.m. all four victims had been rescued and taken to nearby hospitals.