Let $K$ be a set of $q^2+2q+1$ points in $PG(4,q)$. We show that if every 3-space meets $K$ in either one, two or three lines, a line and a non-degenerate conic, or a twisted cubic, then $K$ is a ruled cubic surface. Moreover, $K$ corresponds via the Bruck-Bose representation to a tangent Baer subplane of $PG(2,q^2)$. We use this to prove a characterisation in $PG(2,q^2)$ of a set of points $B$ as a tangent Baer subplane by looking at the intersections of $B$ with Baer-pencils.