A CCTV captured the horrifying moment a plane crashed into a bus in Brazil.

The King Air F90 light aircraft had taken off from a nearby private airport in Sao Paulo, lost altitude, and crashed on a highway in the densely populated Barra Funda area of Sao Paulo on Friday morning, February 7.

Officials said the plane was attempting an emergency landing when it collided with a bus.

Footage shows the plane violently ramming into the highway just metres from an intersection filled with stopped vehicles.

A large plume of thick black smoke emerged from the burning plane.

Governor Tarcisio de Freitas confirmed that two people were killed on board the plane—pilot Gustavo Medeiros and plane owner Marcio Carpena.

Two residents - one aboard the public bus and a passing motorist - were rushed to a nearby hospital after sustaining injuries.

Authorities are investigating the cause of the incident, and the Brazilian Air Force has pledged to conduct a thorough investigation.

This tragedy adds to a series of fatal small plane crashes in Brazil, including one in Vinhedo, near Sao Paulo, in August, which killed 62 people.