Incase if one did not notice it like me , the 3rd stage of Kfour ( adjacent to the nose section ) is firing as the missile breaks the water surface ( and hence the dense white smoke at the sides starting just below the nose section ) which takes the missile to the desired safe altitude where the 1st stage of Kfour is ignited to propel the missile as a normal missile would do in the first place.
Normal missile
1st stage -> 2nd stage -> 3rd stage .......
Kfour
3rd stage -> 1st stage -> 2nd stage -> ...... ( No idea after that )
The 3rd stage of Kfour must have pretty powerful motors to lift the entire missile.
Also if one watches the video closely , one will realise that drdo spliced together 2 different portions of video and took out the inbetween 1st stage firing portion.