At the start, you (i.e. the camera; we're living vicariously, here, folks) are attached to the ship and can't see much. Feel free to skip ahead to 1:40, when you see the cone beginning to melt from the heat of the exhaust, and then BOOM! The booster disengages and WHEE! You're now tumbling from space back toward Earth.
The video takes you right through to splash-down and you even watch the parachutes deploy. This is really spectacular footage.
Warning: The video gets pretty loud at times.
Link found via io9