Two men getting their morning coffee from a city food truck were killed Tuesday when an 84-year-old driver plowed into them — leaving the son of one victim to heartbreakingly weep, “It should have been me.’’

The force of the tragic caught-on-video crash in Astoria, Queens, also killed the car’s driver — and was so horrific that it severed one of the victims’ feet.

The grisly scene near the intersection of 42nd Street and 19th Avenue quickly drew distraught family members of the slain pedestrians, who identified by kin as a marathon runner and a father of eight with 14 grandkids.

An 84-year-old driver struck a food truck at 42nd Street and 19th Avenue in Astoria on Tuesday morning, killing himself and two customers, cops said. James Keivom

“It should have been me. It shouldn’t have been my dad,” said the son of Joaquin Venancio, who was one of the victims of the crash. James Keivom

“Why wasn’t I here this morning?” cried the grief-stricken son of one of the victims, who rushed past the NYPD’s yellow tape and held his head in his hands as his uncle and family members pulled him away. 

“It should have been me. It should have been me.

“It shouldn’t have been my dad.”

Family members at the crash scene identified the victims as avid marathon runner Joaquin Venancio, 41, and Santiago Baires, 70, a father of eight with 14 grandchildren – with two more on the way.

The devastating crash unfolded when the senior motorist whizzed his light-colored 2010 Toyota Corolla north on 42nd Street through the intersection with 19th Avenue, startling surveillance footage shows.

The car careened straight into a food truck as two men ordered from it, police said and video shows.

After the initial impact, the out-of-control driver’s car also spun around and collided with a Volvo sedan driven by a 42-year-old man, cops said. The Volvo driver was unhurt.

An undated picture of Joaquin Venancio, who was one of the two people killed in the crash in Astoria, Queens on Tuesday. Obtained by the NY Post

“All of a sudden I hear loud screeching from tires and like, a really loud engine roar sounded like it was, like, right on top of me,” shaken food-truck worker Giancarlo Caruso told The Post.

“Someone screamed really loudly, and I just had stepped back, like right up to the sidewalk,” he said, adding he was saved “by a millimeter or a centimeter” as he stood next to one of the fatal victims and “felt the wind hit my leg.

“I was parked right off the sidewalk, and as soon as I heard that scream and the screeching, I stepped back, and a vehicle going about 60 miles an hour mauled two of the customers that were with me,” Caruso said.

“They were just laid out and lifeless,” he said of the tragic victims. “It happened so fast. It just, it was almost like God removed me from the scene.”

The grisly crash wiped out several vehicles. Peter Gerber

Joaquin Venancio, 41, was identified by his brother Abel Venacio as one as one of the victims.

Their family owns Astoria Discount Tires, directly across from the food truck.

Abel Venancio remembered his brother as the “happiest person ever,” a marathon runner who’d generously buy coffee and treats for anyone.

Joaquin was buying java at the food truck when the senior’s wayward car plowed into him, sending his body through its windshield, Abel Venancio said.

“I reached the car, and I tried to pull him out,” he said, emotionally adding, “I couldn’t. It was hard.

The elderly driver succumbed to his injuries at a local hospital after the crash. Obtained by the NY Post

“It’s hard, it’s hard.”

Abel Venancio questioned what the elderly driver’s family could have done to keep him from getting behind the wheel.

“To drive like that in this area when it’s 25 [mph], you have to be out of your mind,” he said.

The other victim – Baires – had brought his large brood from El Salvador and made a career in landscaping, his son Yoni Baires said. 

Yoni began to cry as he thought about how his mother would react to his father’s death.

The out-of-control driver spun around after hitting the food truck and collided with a Volvo sedan. Peter Gerber

“He was here just fixing his landscaping truck. He came out to buy coffee,” Yoni Baires said. 

“He was the best. The best dad.”

The younger food-truck patron – Venancio – was pronounced dead at the scene, cops said. 

The older customer, Baires, as well as the elderly driver were taken to the Elmhurst Hospital Center, where they succumbed to their injuries, cops said. 

The two fatal victims were not immediately officially identified by police, pending family notification. 

Francisco Neto, owner of a nearby doggie daycare, said he knew one of the victims for his work at a tire shop near the scene. 

“Very nice guy,” Neto said. “He helped us a lot with with the cars here, with the tires. He just replaced all four tires of my car the other day. It’s sad.

“This is a busy street for this area, extremely busy,” he added. “You have the tire shop, the mechanic, the motorcycle place. So it gets busy, but never anything like this.”