Authorities say around 10:45 p.m. Friday the girl's mother, 27-year-old Moriah Ford, took the child from a home on the 2500 block of West Gordon Street.
Ford then got into the passenger side of a dark colored, Chevrolet sedan and fled.
The child, Kimiyah Scott, was reported missing on Saturday.
An arrest warrant was then issued for Ford on the charge of Endangering the Welfare of a Child.
According to police, Ford lost custody of Kimiyah back in October after allegedly assaulting her.
Late Sunday afternooon, police say they located Kimiyah.
"She was returned to a relative unharmed," a statement read.
However, they are still searching for Moriah Ford.
Anyone with information is asked to call Central Detective Division at 215-686-3093 or call 911.