We perform a joint measurement of terahertz waves and high-order harmonics generated from noble atoms driven by a fundamental laser pulse and its second harmonic. By correlating their dependence on the phase-delay of the two pulses, we determine the
generation of THz waves in tens of attoseconds precision. Compared with simulations and models, we find that the laser-assisted soft-collision of the electron wave packet with the atomic core plays a key role. It is demonstrated that the rescattering process, being indispensable in HHG processes, dominant THz wave generation as well but in a more elaborate way. The new finding might be helpful for the full characterization of the rescattering dynamics.
