A 4-year-old Shih Tzu named Lulu was taken off the street over the weekend and the incident was caught on surveillance video.
The thief was caught on camera on Sunday afternoon when Lulu was outside a few feet from her house.
Lulu pushed her way out of a back door but did not stray far from the house.
A woman was seen on video telling the driver of a Honda to move to the corner, then grabbed Lulu in broad daylight and took off in the vehicle.
On Thursday, Paterson police said Lulu was returned to her owners after the person who took her reportedly did not know who the owner was after seeing her without a collar.
Police said the dog was returned after seeing news reports.
Police said criminal charges will not be filed.
* Get Eyewitness News Delivered
* Follow us on YouTube
* More local news
* Send us a news tip
* Download the abc7NY app for breaking news alerts