They sustained minor injuries in the incident, police said.
"The chartered helicopter Asaram Bapu and his followers were travelling in developed a technical snag prior to landing at Godhra Science college and fell from a considerable height," police officials said.
It fell on the ground after losing balance and the impact was so powerful that it lay tilted on the ground, they said.
Bapu and the pilot had to be taken out after breaking the glass. They were rushed for treatment to a nearby Ashram hospital, officials said.
The guru was scheduled to address a two-day satsang (religious) function organised here, they said.