Tamiyah Bryant was found safe with Bryant in Emporia, Virginia Sunday.
Police say Bryant took 10-month-old Tamiyah after assaulting her mother. He is also charged with assault on a female and communicating threats.
Investigators said the charges stem from an incident Saturday morning at IHOP in Garner. Police said Bryant, 27, took his girlfriend Elssy Olivares to work at IHOP. He forcefully held her in the car when she tried to get out, according to police, then forced her out on Interstate 40 in Durham and drove off with the baby.
A customer at a Mcdonald's saw Bryant's 2002 Suzuki XL7 in the parking lot Sunday morning and called 911. Police arrived and arrested Bryant without incident and found Tamiyah in the car unharmed.
Authorities are transporting Olivares to Emporia to be reunited with her daughter and recover the vehicle.
At least three police departments joined the hunt for Bryant, which started around 8 a.m. Saturday when Bryant took Olivares to work, with baby Tamiyah in tow.
Relatives said the couple was fighting, and they believe Bryant assaulted Olivares in the car.
The couple is from Washington State. The two, along with their two older children, live with family in Angier.
"I would be scared," said Jennifer Pool, who was shocked to find out the Amber Alert sent Saturday was about her neighbor.
"I don't know what I would do if one of my two kids were missing," Pool said.
Police say Bryant had made threats to kill himself and the child.
Bryant will be extradited from Virginia and will face charges in Wake County.