Came racing (double verbs)?

Hi, everybody, I would like seek your kindest help answer my English question.

When I am reading a novel, I see the sentence below,

[My mom CAME RACING to my door]

I wonder that [came] and [race] are both verbs, can one sentence has two main verbs?

Besides, if we treat [racing] as not a verb, what is its word order? Is it an adverb? But it sounds weird.

Or, instead, [come racing] is an idiom?

Could someone who are good at English explain the reason why the sentence in question can be written in this way?

Thanks in advance.