Investigators say the men took the vehicle while the owner was inside of the courthouse early Monday morning.
Surveillance video caught the men in action as they moved the ATV onto the bed of a black pickup truck they were operating.
Detectives arrested Robert Paul Jacobs, 24, and Olin Leonard Paul, 45, and recovered the four-wheeler Tuesday afternoon.
Both men are charged with larceny of a motor vehicle and are being processed in the Cumberland County Detention Center. A bond has not been posted at this time.