Kyleigh Simcsuk, 4, was abducted around 6:30 p.m. Saturday.
Police were also looking for her father 25-year-old Timothy Simcsuk. Police say he abducted the girl after assaulting her caregiver in Palmerton, Pa., which is about 30 minutes north of Allentown.
Simcsuk was found with the girl in a motel near Quakertown.
Authorities say the child was in good condition and her father was taken into custody.