The incident turned into a wild scene when the driver took off as she was being ticketed for driving 71 miles per hour in a 55 miles per hour zone. Officers then opened fire on her minivan with her five kids inside.
In the video, Oriana Ferrell and a state police officer are seen arguing over a ticket just south of Taos. As the cop walks off, Ferrell drives away and is pulled over again by the same officer.
The officer isn't too happy, yelling "Get out of the vehicle right now!"
The dash cam shows the officer trying to pull Ferrell out while the five kids inside scream.
Her 14-year-old son gets out, but thinks again when the officer pulls his Taser. The struggle continues.
"Look, I'm going to ask you one more time to get out of the vehicle and then I'm going to pull you out, OK?" the officer said. "You're already facing evading charges. You ran away from me."
"Sir, I pulled back over, I didn't run away," the woman said. "You see my children. I'm not doing anything wrong. I'm just trying to take them to the Rio Grande."
Finally, Ferrell agrees to get out and talk, but the conversation doesn't last long. Ferrell and the cop struggle as she tries to get back into the van.
While that happens, the 14-year-old gets out again, and this time, he rushes the officer, trying to defend his mom.
After a short tussle, the boy runs back into the minivan. The officer tries to get him out while backup arrives.
Ferrell starts to drive off while another officer fires at the minivan full of kids as young as six.
She then takes them on a four-minute high speed chase into Taos, cutting into wrong way traffic before eventually pulling over and giving up in front of a hotel.
Ferrell was charged with five counts of abuse of a child, aggravated fleeing an officer, resisting an officer, reckless driving and possession of drug paraphernalia. Her 14-year-old son was charged with battery of an officer.
The family is reportedly from Tennessee, but was taking a road trip through New Mexico.
State police say both officers are under investigation.
ABC News contributed to this report.