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Help was summoned to the scene from the Omaha Police Department and Omaha Fire Department.
Firefighters used an aerial rig, a harness and a safety rope to help pull Dakota to safety.
The horse was reunited with its owner after a rescue operation lasting for about two hours.
Firefighters, police and members of the public came together for an hours-long rescue last year when a horse named Stetson fled from his New Hampshire home and became stuck in chest-high mud.
The rescuers said they were making only inches of progress at a time, causing the rescue to last about eight hours.