SOUTHBORO, Mass. (WHDH) -- Crews in Southborough raced to save two dogs in a daring water rescue.

Like many pet owners, the Murphy’s consider their two dogs, Bruschi and Rudy, to be part of the family. It was a shock when both dogs ended up over their heads in a freezing stream over the weekend.

“We were in panic mode,” said Gail Murphy.

It all started with a walk, off their leashes, by a stream.

“They just took off and they actually ran out onto the ice and jumped into the water to go for a swim,” said David Murphy.

But that swim was bone-chilling.

“They tried to get out and they obviously couldn’t. At that point, I immediately called 911,” said David Murphy.

David Murphy watched helplessly from the shore knowing he couldn’t save his dogs because of the thin ice.

He videotaped the scene.

“It was a very smart move to stay put and call us,” said Lt. Neal Aspesi of the Southborough fire department.

The stream was so far off the road first responders had a hard time finding it.

“I was just praying that the fire department would get there before they got too cold or got exhausted,” said David Murphy.

After 18 minutes of treading water, Bruschi and Rudy were saved.

“One of the dogs was pretty cold, but the other dog was very, very cold and was very close to going under,” said Aspesi.

“If they hadn’t gotten there in the time they did they probably would’ve gone under and drowned. So it was pretty scary,” said David Murphy.

On Wednesday, Bruschi and Rudy thanked the firefighters that rescued them.