By February 10, 1970, Baca was stationed in South Vietnam as a specialist four with Company D of the 1st Battalion, 12th Cavalry Regiment, 1st Cavalry Division. On that day, in Phước Long Province during Operation Toan Thang IV, he was serving on a recoilless rifle team when the lead platoon of his company was ambushed. Baca led his team forward through intense fire to reach the besieged platoon. When a fragmentation grenade was tossed into their midst, he "unhesitatingly, and with complete disregard for his own safety," covered it with his helmet and then laid his body over the helmet, smothering the blast and saving eight fellow soldiers from severe injury or death. Baca survived his wounds and was formally awarded the Medal of Honor by President Richard M. Nixon on March 2, 1971. Two other soldiers in Company D, Allen J. Lynch and Rodney J. Evans, had previously earned the medal. In 1990, Baca returned to Vietnam with seven other soldiers of the Veterans Vietnam Restoration Project. The group spent eight weeks working alongside former North Vietnamese Army soldiers building a health clinic in a village north of Hanoi. Baca rarely speaks publicly about the events for which he was awarded the Medal of Honor. However, he prefers to recall an event that occurred on Christmas Day, 1969, when he was walking ahead of his unit, acting as "point," and surprised a young North Vietnamese soldier sitting alone on top of an enemy bunker in the jungle. He saw that the soldier could not reach his rifle quickly and, not wanting to shoot him, yelled in Vietnamese for him to surrender. Not only was he able to take his "Christmas gift" alive and unharmed, the young man, twenty years later, was among the Vietnamese that Baca worked with building the clinic in 1990.
Post-war life
Baca remains active in social causes, particularly related to Vietnam veterans issues and the plight of the homeless. In 2002, a park was named in his honor in Huntington Beach, California. At the park's dedication on April 27, he read the following poem he penned for the occasion: After living in Huntington Beach, Baca moved to Julian, California, enjoying the relative solitude.