Abstract Understanding narrated instructional videos is important for both research and real-world web applications. Motivated by video dense captioning, we propose a model to generate procedure captions from narrated instructional videos which are a sequence of stepwise clips with description. Previous works on video dense captioning learn video segments and generate captions without considering transcripts. We argue that transcripts in narrated instructional videos can enhance video representation by providing fine-grained complimentary and semantic textual information. In this paper, we introduce a framework to (1) extract procedures by a cross-modality module, which fuses video content with the entire transcript; and (2) generate captions by encoding video frames as well as a snippet of transcripts within each extracted procedure. Experiments show that our model can achieve state-of-the-art performance in procedure extraction and captioning, and the ablation studies demonstrate that both the video frames and the transcripts are important for the task