Milford Police asking for the public's help to track down an intruder caught on camera.

Brett Carey and his family say they were terrified by what took place in their home on Thursday afternoon.

In an incident caught on surveillance footage, a woman can be seen walking into their home on Crestwood Road while Carey’s wife and young son were in the basement.

The woman can be seen going through the kitchen cabinets, but is then scared away when she realizes she is not alone in the house.

Carey says he is grateful that nothing was taken and nobody was hurt, but he's warning other families in the area to be on their guard.

"Watching it unfold, the unknown of what's going to happen next – that really was a first for me," he says.

The woman was seen driving away in a red car that had a toddler in the backseat, according to Milford police. Anyone with information about the woman’s identity is asked to contact them.