The Granville County Sheriff's Department and the N.C. Department of Public Safety has been looking for 35-year-old Stephen Hicks since last Monday.
Authorities said he escaped while in transit from the Granville County Detention Center.
Monday, Hicks was chased by Vance County deputies for a short time ending in the area of Glebe Road and Dabner Road where he got out and ran on foot.
Pictures from Chopper 11 showed officers beginning a ground search in a wooded area. He was captured a short time later.
Hicks was serving a state prison sentences for larceny of motor vehicles and assault. He also faces a federal prison term of 15 years for a bank robbery in Burlington in 2015.