For the second straight day, detectives in Washington Township, New Jersey, on Tuesday worked with police in Philadelphia to piece together a violent assault and robbery.

"It's a scary moment, my fiancée is screaming and I'm worried about her," said Frank Manfredi, who was robbed.

Home security video shows the terrifying moments when two men armed with guns ran onto Manfredi's driveway and attacked him outside his home on Eton Drive in the Crofton Run development in Washington Township.

"I was struck in the back of the head with a punch. Hit me right at the sweet spot where I got dazed, I got up, and as I got up one of the guys grabbed me from behind, and the other guy hit me on the top of the head with a Glock gun," Manfredi said.

Manfredi and his fiancée were backing into their driveway around 11:30 p.m. Sunday after having dinner and drinks and returning home from the Ritz Carlton in Philadelphia.

Police say the two suspects ambushed the couple. They held Manfredi's fiancée at gunpoint as they stole his Rolex and wallet, which was filled with cash and credit cards.

"I didn't have any weapons to defend myself, so you're in a tough situation, it's a scary moment," he recalled.

"It's extremely rare for Washington Township," Washington Township Police Chief Patrick Gurcsik said.

Gurcsik called this an isolated incident, and he said he believes the couple was targeted.

Gurcsik tells CBS News Philadelphia a license plate reader showed Manfredi was followed into Washington Township and into his development. 

"We were able to track our victim's car and he's followed by another car, which had a paper license plate that comes back not on file," Gurcsik said. 

In the security video, you can see the suspects run away, and police say a third person was waiting at the end of the block in a getaway car, which is believed to be stolen. 

Manfredi said he's now stepping up security at his home. 

"We work hard for our assets and things that we possess and they better pick a different choice in career to get to where they got to get to, and we're not going to let this happen again," he said.

According to police, a license plate reader also showed the getaway car leaving Washington Township minutes after the robbery. 

Police have increased patrols around the area, and detectives are following up on leads.

Anyone with information about the robbery is asked to contact Detective Lou DiAmbrosio or Detective Matt Barnett at 856-589-0330.