Authorities say Jawana Sallie, 41, is the mother of the four-month-old girl, who was left in a stroller near the intersection of Eastchester Road and Mace Avenue around 5:50 a.m.
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A passerby saw what happened and stayed with the young girl until police arrived.
The child was taken to Jacobi Hospital, where she appears to be in good health.
Sallie was located about 10 minutes from the scene and charged with endangering the welfare of the child.
Officers say she appeared to be under the influence.
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