The 7-month-old girl was located around 7:15 a.m. with her father, 22-year-old Ramon Rivera.
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Authorities say Rivera was arrested for kidnapping and aggravated assault in relation to an incident that occurred Wednesday night in Vineland, Cumberland County.
The Amber Alert was issued just after 4:30 a.m. Thursday by the New Jersey State Police; the child had been last seen in Vineland around 11 p.m. Wednesday.
Approximately a half hour later, investigators from U.S. Marshals Fugitive Task Forces in New Jersey and Pennsylvania established surveillance at a home in Chester, Delaware County where they believed the abducted child may have been taken.
At around 7:15 a.m., the investigators observed the child and several adults enter a vehicle and make their way over the Commodore Barry Bridge.
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Authorities say a felony traffic stop was conducted by the Marshals and the New Jersey State Police.
That is where the child was found and Rivera was arrested without incident.
Pennsylvania State Police announced the child was "located safe" just before 7:30 a.m. on Twitter.
"The rapid multi-agency response across two states to safely find an abducted 7-month-old child, underscores the extraordinary priority given to cases involving children," Eric Gartner, U.S. Marshal for the Eastern District of Pennsylvania, said in a statement.