WATCH: Viral footage of brazen robbery in Johannesburg shows 2 security officers killed

Police are looking for five suspects after two security guards were shot and killed in their vehicle on Monday night.

The guards, believed to be aged 45 and 50 years old, were parked outside a supermarket on the corner of Caroline and Claim streets in Hillbrow shortly after 20:00.

In video going viral online, two men are seen approaching the marked security vehicle on foot.

They fire several shots through the car window before a third man joins them. 

Gauteng police spokesperson Captain Mavela Masondo said the guards died on the scene.

"The two security guards were shot [in] the upper body and certified dead on the scene," he said.

"A firearm was taken from one [of] the victims."

Masondo said the motive for the killing was unknown at this stage and two cases of murder have been opened.

He appealed to anyone with information surrounding the shooting to call the nearest police station or call Crime Stop on 08600 10111.

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