The man was taken into custody on Summit Avenue in Woodbridge.
Two children who were in the vehicle, a young boy and girl, were unharmed.
State Police tracked the man in a four door Lexus SUV from Maplewood to Woodbridge.
The man, identified as 30-year-old Kareem Dawson, of Irvington, is facing charges of contempt of a court order and unlawful possession of a weapon.