34-year-old Thomas Kinney is facing charges of kidnapping and theft of means of transportation after the incident. Authorities say the incident unfolded Friday afternoon while the infant's father was getting gas in Phoenix at McDowell Road and 27th Avenue.
Police say Kinney took off in the father's SUV just as DPS Officer Kyle DeForest happened to be in the area.
DeForest says the father ran up to his vehicle and was extremely distraught.
DeForest chased the vehicle, which ended up in a dead-end. According to police, the suspect bailed out of the car near 25th Avenue and McDowell, but complied when the officer ordered him to get on the ground.
Police say the baby appeared unhurt.