Chilling nanny cam footage shows the moment knife-wielding burglar crawled into bedroom where couple and their three young children were sleeping

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A Queens, New York couple's worst nightmare came true this week, when they woke up to find a knife-wielding burglar lurking in their bedroom just steps away from their sleeping children. 

Nanny camera footage shows the criminal, wearing a beanie and sweater, breaking into the home just before 2:30am on Wednesday. 

He proceeds to move from room to room, looking for items to steal, before crawling into the bedroom where the entire family was sleeping. 

Shocking surveillance video shows the moment a burglar sneaked into a bedroom to steal a phone while a family of five was sleeping

The burglar spent 40 minutes in the house, according to the nanny cam footage. Seen above on hands and knees sneaking into the bedroom where the couple and their three young children were sleeping

The footage, released by the NYPD, shows the burglar on hands and knees, clenching a knife between his teeth as he creeps through the bedroom door - the couple sleeping straight ahead of him and the three children between the ages of three and six in their own beds to the right. 

After a few moments, he notices a smartphone on the dresser and grabs it, and that's where the video ends off. 

But the noise of the burglar grabbing the phone caused the father to wake up. 

The criminal then fled the house and remains at large. 

The NYPD released the surveillance footage of the burglary following the incident in an attempt to capture the crook. 

The suspect has been described as 6 feet 2 inches and 200 pounds. He was wearing all black clothing and a black snow hat with the word 'diamond' on it in red and white lettering. 

Anyone with information on the burglary is being asked to call Crime Stoppers at 800-577-TIPS.   

A close-up of the surveillance footage reveals the burglar was clenching a knife between his teeth 

The father of the family woke up when the burglar reached and grabbed a smartphone off a dresser. The burglar fled and is still at large