Assa Diawara was located in Queens just before 3 a.m. on Wednesday and arrested by police.
She was charged with abandonment of a child and endangering the welfare of a child on Wednesday.
After her arraignment, Diawara was released on her own recognizance. She was ordered to return to court on December 8.
Her attorney told the judge she works at a local African grocery store in her Queens neighborhood and has no criminal record.
Police released a photo of her carrying the baby who was found at Penn Station on Monday.
An anonymous tip led police to the child at the station on W. 34th Street and 7th Avenue just before 9:30 a.m. The baby girl was found wrapped in a blanket at the bottom of a staircase leading to the 1/2/3 train platform.
The baby was said to be conscious and alert when she was found.
Police say surveillance video shows Diawara outside Penn Station. They followed a trail of several videos and said they found another of Diawara taking a Cadillac car service back to Jamaica, Queens, which they tracked using technology.
Back in her neighborhood, detectives canvassed the area where she was dropped off and a neighbor recognized her from the surveillance footage.
Detectives confronted Diawara and she allegedly admitted to abandoning her newborn daughter.
Neighbors said they were surprised to hear what happened.
"Thank goodness that baby was found well and alive but it's heartbreaking to know that individual responsible is right here a few houses away from me," a neighbor named Jonathan said.
New York's Safe Haven Law was created to protect unwanted babies, allowing parents to legally and anonymously abandon a newborn. The baby has to be under 30 days old and left in a suitable location like a hospital or a staffed police or fire station.
The baby can be left in a Safe Haven Baby Box but someone must be notified. To get help or find a location, there is a Safe Haven hotline -- 1-888-510-BABY.
----------
* Get Eyewitness News Delivered
* More Manhattan news
* Send us a news tip
* Download the abc7NY app for breaking news alerts
* Follow us on YouTube