The child's family had gone into a bakery on East 146th Street and Third Avenue just before 11:30 a.m., and when they came outside realized the car had been stolen.
The child had been in the car for over ten minutes, and security cameras caught Victor Matos stealing the car.
One family member told Eyewitness News they felt they were being targeted by Matos.
"The bakery told us he was watching him the whole time," she said.
According to the NYPD, a Gold Chrysler Minivan with Pennsylvania plates was left running with the keys inside.
Witness Bennie Valinti said he spotted the suspect when he first pulled up.
"Skinny guy with a beard, long hair, opened the trunk and took some stuff," he said.
The suspect unloaded a cooler, small grill and also tried to snatch the radio.
Police say the car was found at Casanova Street and Oak Point Avenue.
The baby was found in the vehicle unharmed.
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