According to officials, the baby was uninjured.
They say the child was taken from Wyckoff Pediatric Center in Bushwick Thursday afternoon.
The mother of the child was taking the child to a follow-up appointment.
According to police, the father, 23-year-old Lamont Hightower, showed up, took the child and drove off in his car without a car seat.
The abduction triggered a massive search.
Police say they found the baby safe outside of a NYCHA complex on West 102nd Street.
The child was brought to the 24th precinct.
Hightower is being charged with child endangerment.
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