"That's the first thing I remember was this guy jumping out of the back of the car and running off with his hair on fire like Michael Jackson and there was a young girl who ran off into a paddock," Mr Kay said.
They got to the young driver who had hurt his leg and did not want to be moved.
"We just had to take him because there were flames coming out of the bonnet," Mr Wiggins said.
Mr Kay said he was amazed the car occupants survived based on the damage to the vehicle.
"They were just really bloody lucky that that Saturday afternoon wasn't their last one."
The men then ran to the burning truck, which was quickly filling with thick black smoke.
They couldn't see the driver but were able to break the windscreen with a hammer, which allowed vital fresh air to get to Mr Stirling. The men pulled the driver to safety just a moment before flames took hold of the truck.
The intensity of the blaze set the road's tar seal on fire.
It was not until Mr Stirling was pulled to safety that Mr Wiggins realised he knew him.
The crash traumatised both rescuers but today's ceremony had helped them move forward, they said.
"I never wanted to think about it again," Mr Kay said.
"(But now) it's become, when I think about that it'll be 'What a great day that was for the family' - we've got the nephews here and my parents-in-law visiting from Italy.
"And that's what the memory will be for me from now on."
Mr Wiggins said after the crash he needed therapy.
"For me (the honour is) closure."
But despite the trauma, they said they wouldn't hesitate doing it again.
"I think most people would," Mr Kay said.
