This is like, the most amazing thing I've seen all weekend. This video is admittedly old but just got BoingBoinged so...yeah.
The action starts when the boosters separate at 1:55. At around 4:40 it's really cool since we cross the path of the vapor emitted when they went up. And you can see the twin booster in frame spinning away from time to time. Not to mention the sound and the changes in sound depending on the atmosphere. (There's sound at the beginning because the camera is directly attached to the booster, which is rattling so air is not needed to transmit the sound.)
And beware the attacking space jellyfish at the end!
This could be an outtake from 2001: A Space Odyssey.
ETA: If you're prone to motion sickness, this may not be the best video to watch. The camera spins all the way down.