The CHP says the woman driving the car was naked when she got into two separate collisions.
The woman's two daughters, ages 6 and 2, were in the back seat. Good Samaritans removed them from the wreckage just before it caught on fire, officials said.
"She was in the middle console area with no seat belt," said Bryan Timmerman, one of several good Samaritans who responded to the scene. "She was completely nude, no clothes."
An off-duty nurse performed CPR on the 6-year-old girl.
"She wasn't responsive, she was barely breathing," said Jelene Golbolakh. "She was foaming at the mouth and turning blue."
Good Samaritan Walter Gomez tried to console the 2-year-old.
"I held her hand and I just rubbed her head," Gomez said. "I was praying inside making sure she was OK."
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The first crash happened in the area of The Old Road south of Pico Canyon Road just before 9:45 a.m.
Investigators say the woman continued driving after the first accident, then ran a red light and struck a power pole at the intersection of The Old Road and Pico Canyon. Witnesses say she was driving fast and did not appear to make any attempt to slow down.
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The 6-year-old girl later died. The 2-year-old was initially listed in critical condition and later was said to be stable.
"I have kids," Timmerman said. "It was rough. Because we lost the 6 year old."
The woman is in stable condition.
It is not clear yet why the woman wasn't wearing clothes. Investigators are looking into whether alcohol was a factor in the crashes.