The man, who police identify as 37-year-old Hason Harold Foster of Roxboro, then allegedly began banging on the door of a home in the cul de sac, trying to get inside.
Police say the couple inside the home awoke to the terrifying situation, grabbed their baby, grabbed their dog and called 911.
"Apparently, they heard the subject beating on the door [and] told him to go away," Sgt. Laird Evans said.
The family said the told Foster they were going to call the police.
Afraid, the family hid in a back room in the house while police say Foster forced his way into the home.
Police stayed on the phone with the couple while Foster was allegedly trying to get into the bathroom where the family was barricaded.
Officers arrived at the house and tased Foster.
Police say he was on probation at the time of the incident. He now faces several charges including kidnapping and possession of cocaine.
No one was seriously hurt during the incident.