An Amber Alert was issued for the child after the carjacker forced his father from the vehicle in Elizabeth shortly after 6 p.m. Wednesday.
The thief drove northbound on Routes 1 & 9 and eluded police in the area of McCarter Highway and Broad Street in Newark.
The car was found near the border of Irvington and Newark shortly before 8 p.m.
No one has been arrested.
The alert was issued just hours after state officials announced new guidelines for issuing alerts in cases where the abductor is believed to be a parent or family member.
