A while ago SpaceX released some awesome footage shot from a chase plane. This was done during the Orbcomm OG2 Launch to Low Earth Orbit (LEO). LEO launches don’t require a lot of energy so there is enough fuel and oxygen left for a reentry burn.
This is the onboard video from the same Orbcomm mission, while the first satge reenters the atmosphere and makes a soft landing in the ocean. You can even see the legs deployig just before the landing