A gang armed with a machete, a baseball bat and a knife stole a car from a house in Shelley Road on Wednesday.
Four men walked in to the property at about 9.40pm and punched one of the residents in the face and demanded cash.
They took the keys to a blue VX Vauxhall Corsa, registration number BP07 RYV, before leaving the property and taking the car.
It is believed the offenders were followed from the scene by an Audi A4.
Det Con David Elias said: “This was a shocking experience for the residents to have to experience and I would urge anyone who saw anything suspicious in the area that night to contact the police immediately.
“I would also take this opportunity to urge anyone who has seen a car matching this description parked on their road or driving in their area recently to also contact the police, in confidence.”
The first offender is described as a man with a mixed race appearance, approximately 23 years old, 5’7” tall, with brown eyes and a shaved head.
He wore a light hooded top and was carrying a hammer and a machete.
The second offender is described as black man, about 23 years old, carrying a baseball bat.
The third offender is described as a white man, approximately 23 years old, 6’ tall, wearing a ‘Nike’ top and carrying a knife.
Anyone with information relating to this investigation can contact Det Con Elias, in confidence, at Luton Police Station, on 01582 394387, Bedfordshire Police on 101, or text information to 07786 200011.